Hierarchical Evidence Accumulation in the Pseiki System and Experiments in Model-Driven Mobile Robot Navigation
نویسندگان
چکیده
In this paper, we will review the process of ev idence accumulation in the PSEIKI system for expectation-driven interpretation of images of 3-D scenes . Expectations are presented to PSEIKI as a geometrical hierarchy of abstractions. PSEIKI's job is then to construct abstraction hierarchies in the perceived image taking cues from the abstrac tion hierarchies in the expectations. The Dempster-Shafer formalism is used for associating belief values with the different possible l abels for the constructed abstractions in the perceived image. This system has been used successfully for autonomous navigation of a mobile robot in indoor environments.
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