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- W2065940982 abstract "This paper presents a novel method for autonomous robotic qualitative mapping of large scale spaces. The proposed framework makes use of a graphical representation of the world in order to build a map consisting of qualitative constraints on the relationships between objects observed by the robot. These relationships are represented in terms of the relative geometrical layout of landmark triplets. A novel measurement method based on camera imagery is presented which extends previous work from the field of Qualitative Spatial Reasoning. Measurements are fused into the map using a deterministic approach based on iterative graph updates. Experimental results are presented for a robot traversing a Mars-like environment while building a relational map." @default.
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- W2065940982 date "2013-08-15" @default.
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- W2065940982 title "Qualitative Relational Mapping for Planetary Rover Exploration" @default.
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- W2065940982 doi "https://doi.org/10.2514/6.2013-5037" @default.
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