Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Continuous Occupancy Mapping Using Gaussian Processes
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2012 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Kontinuerlig kartering med Gaussprocesser (Swedish)
Abstract [en]

The topic of this thesis is occupancy mapping for mobile robots, with an emphasis on a novel method for continuous occupancy mapping using Gaussian processes. In the new method, spatial correlation is accounted for in a natural way, and an a priori discretization of the area to be mapped is not necessary as within most other common methods.

The main contribution of this thesis is the construction of a Gaussian process library for C++, and the use of this library to implement the continuous occupancy mapping algorithm. The continuous occupancy mapping is evaluated using both simulated and real world experimental data. The main result is that the method, in its current form, is not fit for online operations due to its computational complexity. By using approximations and ad hoc solutions, the method can be run in real time on a mobile robot, though not without losing many of its benefits.

Place, publisher, year, edition, pages
2012. , 84 p.
Keyword [en]
gaussian process, regression, classification, mapping, integral kernel
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-81464ISRN: LiTH-ISY-EX--12/4626--SEOAI: oai:DiVA.org:liu-81464DiVA: diva2:552702
External cooperation
ACFR, University of Sydney
Subject / course
Automatic Control
Presentation
2012-09-14, BL34, Linköpings universitet, Linköping, 15:15 (Swedish)
Uppsok
Technology
Supervisors
Examiners
Available from: 2012-09-19 Created: 2012-09-15 Last updated: 2012-09-19Bibliographically approved

Open Access in DiVA

fulltext(1570 kB)670 downloads
File information
File name FULLTEXT01.pdfFile size 1570 kBChecksum SHA-512
a5795470ffae07e6f14250a8c26e7c1134bc4ea827d3a113467712cf558a6b62fc9173ed28aae09a710a62953204b67208f303f577dc6876ddb038e7cc5da1c9
Type fulltextMimetype application/pdf

By organisation
Automatic ControlThe Institute of Technology
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 670 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 352 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf