Translated seminar announcement
Date: Thu, 7 Mar 91 11:34:05 GMT-0800
Subject: Translated seminar announcement
Here's a translation of a recent seminar announcement:
WHAT HE SAYS | WHAT HE MEANS
Autonomous Navigation Using | How to Get Around
Evidential Reasoning Techniques | the Office by Yourself
Purposeful autonomous behavior requires hav- | You must know where you are
ing reliable locative information in order | in order to get around.
to help assess the desirability of pursuing |
particular actions to sense, perceive, or |
alter one's position in the environment. |
Having the ability to ascertain location | You'd like to be able to get
based on imperfect perceptual cues that | around with your glasses off
are extracted from real-world contexts is a | or with your eyes closed.
critical requirement for truly autonomous |
While some of the |
well known non-perceptual locative techniques | You can walk around with your
such as dead reckoning, registration of | eyes closed, but it's hard.
inertial or geo-stationary-satellite loca- |
tion data with an environmental map, and | Some people have tried
maintaining a global cartesian-map | navigating with satellite
representation throughout movement activi- | uplinks, but this didn't
ties remain topics of investigations, they | work well in our office.
require near perfect measurements of direc- |
tion and traversed distances, significant |
computation resources, and are limited by the |
range of their sensors.
To extend current |
autonomous navigation capabilities that are | We have found that we can get
limited by these requirements, increasing at- | around by feeling our way along
tention has focused on developing robust | the wall of our office.
perceptual-based inference techniques that |
derive location hypotheses through the in- |
terpretation of perceptual cues within |
the context of environmental map descrip- |
Some recent work on perceptual-based naviga- | You can feel your way around
tion schemes has emphasized the integration | better if you know the room
of distinct sensor modality data within the | (that's why we're using our
context of an environmental model to assess | office).
In this talk, we discuss an ap- |
proach to autonomous perceptual-based naviga- | Sometimes you have to flip
tion that uniquely exploits evidential rea- | a coin.
soning (ER) techniques which embody interval |
probabilistic methods that are based on |
work of Dempster and Shafer.
We will |
describe how such ER techniques can be used | We describe how to get around
to fuse and interpret multisensor data within | our office on a skateboard
the context of a sparse spatial map of an of- | that we built ourselves.
fice environment to infer location, and show |
the results of preliminary experiments with |
an autonomous mobile platform.
Translated by Paul Heckbert and Seth Teller
© 1991 Peter Langston