Bayesian filtering over compressed appearance states
Douillard, B., Upcroft, B., Kaupp, T., Ramos, F., & Durrant-Whyte, H. (2007) Bayesian filtering over compressed appearance states. In Dunbabin, Matthew & Srinivasan, Mandyam (Eds.) Proceedings of the 2007 Australasian Conference on Robotics & Automation, Australian Robotics & Automation Association, Brisbane, Australia.
This paper presents a framework for performing
real-time recursive estimation of landmarks’ visual appearance.
Imaging data in its original high dimensional space is probabilistically
mapped to a compressed low dimensional space
through the definition of likelihood functions. The likelihoods
are subsequently fused with prior information using a Bayesian
update. This process produces a probabilistic estimate of the low
dimensional representation of the landmark visual appearance.
The overall filtering provides information complementary to
the conventional position estimates which is used to enhance
In addition to robotics observations, the filter integrates human
observations in the appearance estimates. The appearance
tracks as computed by the filter allow landmark classification.
The set of labels involved in the classification task is thought of
as an observation space where human observations are made
by selecting a label.
The low dimensional appearance estimates returned by the
filter allow for low cost communication in low bandwidth
sensor networks. Deployment of the filter in such a network
is demonstrated in an outdoor mapping application involving
a human operator, a ground and an air vehicle.
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|Item Type:||Conference Paper|
|Keywords:||Bayesian updates, real-time|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2007 [please consult author]|
|Deposited On:||13 Apr 2011 11:41|
|Last Modified:||14 Aug 2011 00:21|
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