Page 210 - Introduction to Autonomous Mobile Robots
P. 210
Mobile Robot Localization
a) 195
probability P
position x
b)
probability P
position x
c)
probability P
position x
d)
probability P
node
of topological map
A B C D E F G
Figure 5.9
Belief representation regarding the robot position (1D) in continuous and discretized (tessellated)
maps. (a) Continuous map with single-hypothesis belief, e.g., single Gaussian centered at a single
continuous value. (b) Continuous map with multiple-hypothesis belief, e.g;. multiple Gaussians cen-
tered at multiple continuous values. (c) Discretized (decomposed) grid map with probability values
for all possible robot positions, e.g.; Markov approach. (d) Discretized topological map with proba-
bility value for all possible nodes (topological robot positions), e.g.; Markov approach.
