By J. Torreao
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5. Experimental results We have carried out different experiments in real indoor environments. They were designed to demonstrate the modeling ability of a mobile robot equipped with a stereo vision head. In particular, we used RobEx (ﬁgure 11), an open-hardware robotic platform. , 2010). 34 18 Advances inWill-be-set-by-IN-TECH Stereo Vision Fig. 11. The RobEx platform. In the ﬁrst experiment, we tested the ability of the robot to model a room with several objects on the ﬂoor. Figure 12 shows the result of this experiment for the modeling of the room at the right side of ﬁgure 13.
The partition must be available. Also the covariance matrices associated with each of the classes are used. The full partition and covariance matrices are the parameters that this classifier stored in the KB during the training phase. In fact, the covariance matrices are the same as those obtained by PB. During the decision phase, PZ extracts from KB both the covariance matrices Cj and the available training samples are distributed in their respective classes. With them the probability density function given in equation (3) is generated.
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