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- W2897569641 abstract "This thesis describes a structural approach to map making for an autonomous mobile robot, and address the problem of map construction for navigation with no a priori geometric knowledge. A directed attributed graph boundary representation is developed for world modelling. Techniques for model acquisition from range sensor data, model registration, and model synthesis are developed which exploit geometric and structural knowledge. Local structural constraints, local geometric constraints, global structural constraints and global geometric constraints are identified and used. A method for self-localization using the model registration technique developed is described. The implementation of a system to demonstrate the theory and techniques developed is described." @default.
- W2897569641 created "2018-10-26" @default.
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- W2897569641 date "1992-01-01" @default.
- W2897569641 modified "2023-09-24" @default.
- W2897569641 title "A structural approach to map making for an autonomous mobile robot" @default.
- W2897569641 hasPublicationYear "1992" @default.
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