Sensors and Methods for Mobile Robot Positioning

Chapter 8: Map-Based Positioning 205
C
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Acquiring, storing, and matching visual scenes is very expensive, both in computation time and
storage space.
The algorithm is restricted to highly structured, orthogonal environments.
Table 8.5a: Probabilities for each place using only vision.
Stored Places
A B C D E F G
A 0.43 0.09 0.22 0.05 0.05 0.1 0.06
B 0.05 0.52 0.21 0.06 0.05 0.05 0.05
C 0.10 0.12 0.36 0.2 0.04 0.13 0.04
D 0.14 0.05 0.24 0.43 0.05 0.04 0.05
E 0.14 0.14 0.14 0.14 0.14 0.14 0.14
F 0.14 0.14 0.14 0.16 0.14 0.14 0.14
G 0.14 0.14 0.14 0.14 0.14 0.14 0.14
Table 8.5b: Probabilities for each place using only sonar.
Stored Places
A B C D E F G
A 0.82 0.04 0.04 0.04 0.04 0 0
B 0.02 0.31 0.31 0.31 0.06 0 0
C 0.02 0.31 0.31 0.31 0.06 0 0
D 0.02 0.31 0.31 0.31 0.61 0 0
E 0.04 0.12 0.12 0.12 0.61 0 0
F 0 0 0 0 0 0.90 0.10
G 0 0 0 0 0 0.10 0.90
Table 8.5c: Combined probabilities (vision and sonar) for each place.
Stored Places
A B C D E F G
A 0.95 0.01 0.02 0.01 0.01 0 0
B 0 0.65 0.26 0.07 0.01 0 0
C 0 0.17 0.52 0.29 0.01 0 0
D 0.01 0.07 0.33 0.58 0.01 0 0
E 0.04 0.12 0.12 0.12 0.61 0 0
F 0 0 0 0 0 0.90 0.1
G 0 0 0 0 0 0.09 0.91