1988 · 421 citations · 8 references
ComputingDecision SciencesSpatial ModelingStochastic ModelingUncertainty QuantificationMappingSpatial Knowledge RepresentationSpatial RelationsStochastic Systems ModelingUncertainty EstimationUncertainty RepresentationMap UncertaintyMap Uncertainty QuantificationMapping UncertaintyProbabilistic Spatial RepresentationSpatial Decision Under UncertaintySpatial Uncertainty AnalysisSpatial Uncertainty RepresentationState Estimation Under Uncertainty
In this paper we will describe a representation for spatial relationships which makes explicit their inherent uncertainty. We will show ways to manipulate them to obtain estimates of relationships and associated uncertainties not explicitly given, and show how decisions to sense or act can be made a priori based on those estimates. We will show how new constraint information, usually obtained by measurement, can be used to update the world model of relationships consistently, and in some situations, optimally. The framework we describe relies only on well-known state estimation methods. 1
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