Efficient representation of outdoor environment in mobile robotic simultaneous localization and mapping problem based on the information complexity. The parametric dictionary is composed of Gaussian functions. In order to perform loop closure detection, the Normalized Compression Distance NCD is employed from information theory. The performance of this technique is analyzed in some indoor and outdoor environments. Furthermore, another environment is developed based on the Non Uniform Rational B-Spline NURBS for more accurate environment representation, simpler obstacle detection and smooth path planning.
Lotfi A. Zadeh
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Iran News A private collector who lent many of the works reveals what light these treasures cast on the country. The Sarikhani Collection is one of the most extraordinary and significant assemblies of art in Britain, if not the world. It comprises, in all its magnificence, some 1, items: ceramics, metalwork, textiles and manuscripts that together tell the long and wondrous story of Iran and its culture from BC until the 18th century.