Learning to automatically detect features for mobile robots using second-order Hidden Markov Models
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(2) INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE. Learning to automatically detect features for mobile robots using second-order Hidden Markov Models Olivier Aycard , Jean-François Mari, , Richard Washington. N° 4659 Novembre 2002. ISSN 0249-6399. ISRN INRIA/RR--4659--FR+ENG. THÈME 3. apport de recherche.
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(76) z|uaz^o uv { Es29{ ju^loK{}^z |o .x E { Snbo-w }zs2 ¿u^lo N N¡#xds/uvlo zwz do zl2{{E; N~{}wGo ¯{}wn1x du^lz: }wvx n;n;xdwwo-wo-^o sQuvxd| K{}^z |o Nâxd w d{Xylx zs<y {}w^wo-^K{}s2zs Gu^{Guvlol2zo s'xdwu{ uvlonbo-w }o- nb{Eo-| rts uvl2o-^o ylxdz|s-s{Eo-y {}w^wo- {}s2uv{ N N¡ <x ^^{Ey-zx uvo a z|u^l x8x wuvz|y-xd=w ¯oMx u^w^!o =/Ý2 }o- Ko 'u o-o s 'u { N N¡# y-{dw^w^o ^K{}sGu^{xnbo-w }o Ko 'u o-o s½uvlo xdÿu ÿux u^o{ {}s2 o N N¡xdsuvlo w^ÿuSuvx uvo { Ýuvl2o½{duvlo w N Nâ<¡ 8k<lo½2w^{} x z|z|'u ~xd^{y z x u^o- z×uvl+oMx ylo }o½w^o w^o ^o s u^$u^loG|)z do l{E{ { uvlonbo-w }o. k<lo sÓ u^lonb{}ÿu|)z do 1^ o _ o sy-o½!{ Suvx uvo - xd2o uvo w^nbzso â 'uvl6o z×uvo w^ z xd| }{}w^z×uvln/22o uvo wÿ nbzso uvlo<{}wo-wo-bz|uS{ b ¯oMx#uvwo-Suvlx#uSuvlow^{d {duvx 2w^zs2 $z×uvSw;s ruÝnG2uÝ Ko:s2{duvo ¿u^lx u uvl2o:|zÿuÝ{ [nb{Eo-|Sz s#{ s1{}s2 l2o-s;u^low^s;zSy {}n;2o u^o-; O`Ûon;x do<u^lol EK{duvl2o-^z|au^lx u 'u {G{}wÝn;{dw^o{ [u^l& o ¯oMx u^w^o .yMx ss{du{X}o-w xd" k<lo:^o{ ,x$ }wvxdnbn;xdwlxdxds{ uvlo wz|n;K{}wuvxdsQu î +),î¯ð.
(77) xd2 xdsQuvxd }o Òru;xd|#{ Guvlo'o znbzsx uvz|{}s!{ ^{dn;o o _ o-s2y-o-;uvlx 6u z|.s2o }o w;lxdKo-sfz|s uvlo o-sQEzw{}snbo-sQu & w{}nËx;y {}nb2ux#uvz{dsxdÓK{}zsQu:{ *z|o
(78) Tuvlo$ }w^xdn;n;xdw?z|,xM}{dzâ{}nboo-|o-^ yMx y-2 x u^z{}s
(79) . k<lo }wvxdnbn;xdwyMx sâ Ko$ dz|}o sxd2w^z{dw^zÓ{}w|oMxdwso-; k*{;o-xdw^s'uvlo$ }w^xdn;n;xdw < o8o$u^lGo ¯{dw^nbo-w nb{o xdso-ÿuvzn;x u^oÝu^lo-nÙ{}sso- }nbo-sQuvo ½x uvx:|)z doazsuvl2owo-y-{d }sz|u^z{}s$lx ^o Ko-y-z yMx d o n;o w^ }o x Ýuvlo nb{2o-^o o-sÒ Ûuvl2o w^{} K{duG2w^z|s Àxy-{}nb|o uvo;w^sÒz|s u^{+x x w^ }o w8nb{o y-{dw^w^o ^K{}sz|s 1u^{1uvlo8^ o _ o sy-o¿{ Ý{d ^o w}o Àz|uvo n;xdsu^wvxdz|s~u^loGw^o ^×uvz|s 1nb{2o- z|uvl~uvlo so- }nbo-sQu^o-Üx uvx Ürtsfu^lo~'u { ¯{}|#{ zs À+o *2Ko-wznbo-sQuv oo *Ko-w^z|n;o sQuxd| ^#x Ëu^lx Lu .o {} 2uvxdzs' Ko uuvo-wwo-^2|uv< 'o sz|s ½uvlo }w^xdn;n;xdw.xbwz{}wz. < &/ xdx#uvzs2 Guvlowvx#uvo{ *w^o y-{} }s2z|uvz|{};s. {}w[u^lz 9 oÝo soax.uvo-ÿu y-{}w,y-{dn;K{}^o { 2o do-wvx Qw^s
(80) Z {}wÓo-xdylw^s[dxl n;xdsy-{}nbxdwo- uvl2o1^
(81) o _ o-sy o { ? ¯o-x uvwo-y-{}nb {d^zs2 /u^lo1wsÓ 2^zs2 s#{ o }o1!{ uvlo;o-sQEzw{}snbo-sQuMO z|uvl lx ulxd. Ko-o s o u^o-y(uvo- buvlo z|u^o-w zKxd }{dw^z|u^l^ n ¯oMx u^w^oz.wo-y {} }sz (-o-1z ,z×u.z|o(uvo y uvo ¿uvlo:y-{}ww^o ^K{}sz|s 8nb{2o-y-|{}^ouv{$z|u^Ýw^oMx K do-{}nbo u^w^zyK{}^z×uvz|{};s ¯o 'u E o .{ ,o w^w{}w^ayMxds {Ey-y-2 w $ *¥ æ §X9¦ V ê aª u^lo<w^{d {dulxdS^o o-s;xs{}so *zÿuvz|s ¯oMx u^w^G o @xdoK{}^z×uvz|d#o + k<lz|Sy-{}ww^o- {dsuv{ xds{Xdo-wÿ^o }n;o sQux u^z{}s z|s1uvlow^o-y {} }sz×uvz|{}s;2w^{Ey-o- Ýrtso-wu^z{}s2<xdw^oy-ww^o-sQu^ ;y-{}szo w^o lo s/u^l3 o z2u^l~{ uvl2o$z|s^o wu^o-F ¯oMx u^w^oz<nb{}wouvlx s }¢½y o-sQuvz|n;o(uvo-w æ . æ 9¦ V ê aª uvlow^{d {dulxdn;z|^^o uvl3 o ¯oMx#uvwao @xdoso- }x uvz×}#o + ¦ VB¦ ,9¦ V ê ݪ uvl2o$w{} K{du<lxdy {}s ¯o-~u^l3o ¯oMx u^w^3o z×uvl/xds{du^lo-
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