Dirichlet Process based Bayesian Partition Models for Robot Topological Mapping

Abstract

Robotic mapping involves finding a solution to the correspondence problem. A general purpose solution to this problem is as yet unavailable due to the combinatorial nature of the state space. We present a framework for computing the posterior distribution over the space of topological maps that solves the correspondence problem in the context of topological mapping. Since exact inference in this space is intractable, we present two sampling algorithms that compute sample-based representations of the posterior. Both the algorithms are built on a Bayesian product partition model that is derived from the mixture of Dirichlet processes model. Robot experiments demonstrate the applicability of the algorithms. 1