Explicit Objects in 3D

Environment

Sensors

Purpose

Indoor,

Structured

Localization

Stereo

• Predicts features not seen

• Orthogonal environments

• Too many hypotheses

Comments

Eberst & Sicheneder’96

Map structure:

• Geometric Symbolic Model

  • stable features
  • objects

• Dynamic Local Map

  • dynamic features
  • hypothetical features

• Predictive Completion Module

  • concave and convex edges
  • parallel structures
  • known objects

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