Page 421 - Introduction to AI Robotics

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b.
a. 11 Localization and Map Making

c.

Figure 11.14 Comparison of occupancy grids generated from the same set of read-
ings in a favorable hallway by a.) Bayesian, b.) Dempster-Shafer, and c.) HIMM. The
Bayesian and Dempster-Shafer maps show the path of the robot, while the HIMM
map does not. The HIMM map is slightly offset due to show spurious readings.