Voronoi graph matching for robot localization and mapping
Transactions on computational science IX
Voronoi graph matching for robot localization and mapping
Transactions on computational science IX
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This book addresses spatial representations and reasoning techniques for mobile robot mapping, providing an analysis of fundamental representations and processes involved. A spatial representation based on shape information is proposed and shape analysis techniques are developed to tackle the correspondence problem in robot mapping. A general mathematical formulation is presented to provide the formal ground for an efficient matching of configurations of objects.