This paper describes maximum likelihood estimation techniques for performing rover localization in natural terrain by matching range maps. An occupancy map of the local terrain is...
Abstract— A core challenge in probabilistic mapping is to extract meaningful uncertainty information from data registration methods. While this has been investigated in ICP-based...
We describe techniques for performing mobile robot localization using occupancy grids that allow subpixel localization and uncertainty estimation in the pixelized pose space. The ...
We present a probabilistic framework for matching of point clouds. Variants of the ICP algorithm typically pair points to points or points to lines. Instead, we pair data points to...
The augmented graph model, as introduced by Kleinberg (STOC 2000), is an appealing model for analyzing navigability in social networks. Informally, this model is defined by a pair...