Summary
This paper presents a data-fusion and interpretation system for operation of an Autonomous Ground Vehicle (AGV) in outdoor environments. It is a practical implementation of a new model for machine perception and reasoning, which has its true utility in its applicability to increasingly unstructured environments. This model provides a cohesive, sensor-centric and probabilistic summary of the available sensory data and uses this richly descriptive data to enable robust interpretation of a scene. A general model is described and the development of a specific instance of it is described in detail. Preliminary results demonstrate the utility of the approach in very large, unstructured, outdoor environments.
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© 2006 Springer-Verlag Berlin Heidelberg
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Grover, R., Scheding, S., Hennessy, R., Kumar, S., Durrant-Whyte, H. (2006). Applying a New Model for Machine Perception and Reasoning in Unstructured Environments. In: Corke, P., Sukkariah, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 25. Springer, Berlin, Heidelberg . https://doi.org/10.1007/978-3-540-33453-8_22
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DOI: https://doi.org/10.1007/978-3-540-33453-8_22
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-33452-1
Online ISBN: 978-3-540-33453-8
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