Advances in Stereo Vision by J. Torreao

By J. Torreao

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Modeling of the second room during the exploration of the environment of figure 14. environments. As an initial approach, it is assumed that the environment is formed by rectangular rooms communicated by doors and may contain objects on the floor. The result of the modeling process is a topological graph that represents the set of rooms (nodes) and their connections (edges). Each node in this representation contains the metric description of the corresponding room model. Using this basic metric information robots do not need to maintain in parallel a metric map of the environment.

Despite the variety of proposals, all these models are characterized by a common aspect: attention control is centralized. It is to say, the result of every processing unit of the system in these models is used by an unique control component that is responsible for driving attention. The centralization of the attentional control presents some problems that prevent from solving key aspects of our proposal. These problems can be summarized in the following three points: 1. Specification of multiple targets 2.

Statistical or unknown parameters to be estimated, T denotes the transposed matrix and q express the dimensionality of the data by x ∈ ℜq . The hypotheses assumed by the unsupervised classification techniques are: 1. There are c classes in the problem. 2. The sample x comes from these c classes, although the specific class to which it belongs is unknown. 3. The a priori probability that the sample belongs to class cj, P c j is in principle unknown. 4. The density function associated with each class has a known form, being unknown the parameters of that function.

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