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Authors: Melanie Delafosse 1 ; Laurent Delahoche 1 ; Arnaud Clerentin 1 and Anne-Marie Jolly-Desodt 2

Affiliations: 1 RTeAM IUT, France ; 2 GEMTEX, France

Keyword(s): Mobile robot localization, 2D-mapping, uncertainty and imprecision modeling.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robotics and Automation ; Vision, Recognition and Reconstruction

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 several formats:
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; ISSN 2184-2809, SciTePress, pages 438-445. DOI: 10.5220/0001632504380445

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Delafosse, M.
AU - Delahoche, L.
AU - Clerentin, A.
AU - Jolly-Desodt, A.
PY - 2007
SP - 438
EP - 445
DO - 10.5220/0001632504380445
PB - SciTePress

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