Page 437 - Introduction to AI Robotics
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                                                     a.                        11  Localization and Map Making
                                                                                      b.





























                                                                      c.

                                     Figure 11.19  Continuous localization in ARIEL: a.) short-term perception map.
                                     Height of pixels indicates the certainty, b.) long-term perception map, and c.) reg-
                                     istration of short-term perception map with long-term map. (Figures courtesy of the
                                     Navy Center for Applied Research in Artificial Intelligence, Naval Research Labora-
                                     tory.)
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