Stochastic Automata for Outdoor Semantic Mapping using Optimised Signal Quantisation

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.