AN INCREMENTAL MAPPING METHOD BASED ON A DEMPSTER-SHAFER FUSION ARCHITECTURE

Melanie Delafosse, Laurent Delahoche, Arnaud Clerentin, Anne-Marie Jolly-Desodt

Abstract

Firstly this article presents a multi-level architecture permitting the localization of a mobile platform and secondly an incremental construction of the environment’s map. The environment will be modeled by an occupancy grid built with information provided by the stereovision system situated on the platform. The reliability of these data is introduced to the grid by the propagation of uncertainties managed thanks to the theory of the Transferable Belief Model.

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Paper Citation


in Harvard Style

Delafosse M., Delahoche L., Clerentin A. and Jolly-Desodt A. (2007). AN INCREMENTAL MAPPING METHOD BASED ON A DEMPSTER-SHAFER FUSION ARCHITECTURE . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 438-445. DOI: 10.5220/0001632504380445


in Bibtex Style

@conference{icinco07,
author={Melanie Delafosse and Laurent Delahoche and Arnaud Clerentin and Anne-Marie Jolly-Desodt},
title={AN INCREMENTAL MAPPING METHOD BASED ON A DEMPSTER-SHAFER FUSION ARCHITECTURE},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={438-445},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001632504380445},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - AN INCREMENTAL MAPPING METHOD BASED ON A DEMPSTER-SHAFER FUSION ARCHITECTURE
SN - 978-972-8865-83-2
AU - Delafosse M.
AU - Delahoche L.
AU - Clerentin A.
AU - Jolly-Desodt A.
PY - 2007
SP - 438
EP - 445
DO - 10.5220/0001632504380445