Stochastic Automata for Outdoor Semantic Mapping using Optimised Signal Quantisation

Fabio Caponetti, Morten Rufus Blas, Mogens Blanke

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Abstract

Autonomous robots require many types of information to obtain intelligent and safe behaviours. For outdoor operations, semantic mapping is essential and this paper proposes a stochastic automaton to localise the robot within the semantic map. For correct modelling and classi¯cation under uncertainty, this paper suggests quantising robotic perceptual features, according to a probabilistic description, and then optimising the quantisation. The proposed method is compared with other state-of-the-art techniques that can assess the con¯dence of their classi¯cation. Data recorded on an autonomous agricultural robot are used for veri¯cation and the new method is shown to compare very favourably with existing ones.
Original languageEnglish
JournalControl Engineering Practice
Volume19
Issue number3
Pages (from-to)223-233
ISSN0967-0661
DOIs
Publication statusPublished - 2011

Keywords

  • Robotics
  • Classification
  • Probabilistic models
  • Quantisation
  • Stochastic automata

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