TY  - CONF
T2  - Spatial Cognition VIII
EP  - 113
PB  - Springuer
A1  - Puente Yusty, Paloma de la
A1  - Censi, Andrea
UR  - https://oa.upm.es/13703/
ID  - upm13703
SN  - 978-3-642-32732-2_6
N2  - 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 as methods based on geometric primitives. This approach allows the intrinsic degrees of freedom of the environment?s shape to be recovered. Experiments with simulated and real data sets will be presented
CY  - Alemania
TI  - Dense Map Inference with User-Defined Priors: From Priorlets to Scan Eigenvariations
SP  - 94
AV  - public
Y1  - 2012///
M2  - Kloster Seeon, Bavaria, Alemania
VL  - 7463
ER  -