Collaborative Perception, Localization and Mapping for Autonomous Systems by Yufeng Yue & Danwei Wang

Author:Yufeng Yue & Danwei Wang
Language: eng
Format: epub
ISBN: 9789811588600
Publisher: Springer Singapore

(4.12)

When it moves to the full map matching level, the structure information is not available. In this case, the dimension of descriptor reduced to in 4D space. The error metric defined in Eq. (4.13) denotes the error metric of full map matching, where .

(4.13)

The weighting vector measures the importance of the occupancy probability and geometry distance relative to the positional distance. The weight parameters are scale factors to determine the contribution of occupancy probability and geometry distance. Since weight has been decided in Chap. 3, the focus here is to estimate . To model the two weights , the uncertainties of structural information are estimated as described below.

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