By L. Mussio, G. Forlani, F. Crosilla
The ebook comprises 31 papers on assorted fields of program and the issues of modelling and organizing info in constructions, the processing thoughts of GIS information for queries to the approach and the so-called Dynamic GIS were stated intimately. a last paper on special effects rules is integrated. Its contents may be preferably amassed in 5 chapters, within the first one a few stories on facts acquisition with reasonably-priced DGPS for highway survey and evaluation on automobile Navigation structures (VNS) are proven. the second one on "GIS info acquisition and evaluate” collects a type of papers treating strong statistical strategies utilized to pre-processing, research and checking out for other kinds of GIS info. in the subject on "image acquisition and preprocessing” particularly a few studies on attempt and calibration of alternative scanners for GIS info acquisition are mentioned in addition to a few unique techniques to the automated DTM new release for cartographic and shut diversity purposes. eventually, a few purposes to the environmental tracking and to using other kinds of geodetic facts in multipurpose neighborhood GIS, including a few examples of the applicability of multimedia know-how to structure and civil engineering is shown.
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Furthermore we explain how this extension is advantageous to cope with the main issues involved by the exploration task, such as reducing the robot position uncertainty and maintaining the consistecy of the representation model. The whole representation is a network of 2D geometrica! representations with the characteristic that the uncertainty about features is locally bounded. When new features have to be merged in one of the geometric descriptions of the graph, their parameters must be expressed in the correspondent reference frame.
The algorithm generates a set of hypoteses of correspondances between comers of the two visual scenes, taking into account topologica! and geometric properties of their objects. • Topologica! properties: corresponding comers have to join corresponding edges in the two visual scenes. • Geometric properties: corresponding comers must have similar angle width in the two scenes, and similar distances from adiacent corresponding comers. Fig. 2 shows an example of hypotheses generation, where several corresponding geometric properties have been individuated.
The classical approach to the fusion problem would compute, using the EKF, a new estimate of the parameters of each common comer, taking into account the two available estimates, with associated uncertainty, and the estimate of the displacement D between frames E and L. Although we use a "good" estimate of the displacement D, serious fusion problems may occur. 1et's suppose that in the real world there are only mutually orthogonal edges, and that our sensorial system is able to measure the angular width of the comer with high precision.