de la Puente, Paloma and Censi, Andrea (2011) Dense map inference with user-defined priors: from priorlets to scan eigenvariations. Caltech , Pasadena, CA. (Unpublished) http://resolver.caltech.edu/CaltechCDSTR:2011.002
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When mapping is formulated in a Bayesian framework, the need of specifying a prior for the environment arises naturally. However, so far, the use of a particular structure prior has been coupled to working with a particular representation. We describe a system that supports inference with multiple priors while keeping the same dense representation. The priors are rigorously described by the user in a domain-specific language. Even though we work very close to the measurement space, we are able to represent structure constraints with the same expressivity of methods based on geometric primitives.
|Item Type:||Report or Paper (Technical Report)|
|Additional Information:||This work was partially funded by the Spanish Ministry of Science and Technology, DPI2007-66846-c02-01.|
|Group:||Control and Dynamical Systems Technical Reports|
|Usage Policy:||You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.|
|Deposited By:||Imported from CaltechCDSTR|
|Deposited On:||22 Feb 2011|
|Last Modified:||26 Dec 2012 14:31|
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