{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T14:16:54Z","timestamp":1761488214767,"version":"3.37.0"},"reference-count":8,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2017,8,17]],"date-time":"2017-08-17T00:00:00Z","timestamp":1502928000000},"content-version":"unspecified","delay-in-days":10000,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1990,4]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>Recent development of sensor knowledge representation by the use of a certainty grid has been extensive and shown the usefulness of the grid-based concept for robot navigation.<\/jats:p><jats:p>Yet the methodology was not perfect. This paper introduces the Bayesian formula into the certainty grid representation to overcome some difficulties of<jats:italic>ad hoc<\/jats:italic>formula that has been the only way of updating the grids. The complete derivation of the proposed updating formula is given and proved to be able to accurately identify the simulated world. Also, the paper suggests two updating models: context-sensitive and context-free. Both of them were shown to be usable through simulation in real world modeling.<\/jats:p>","DOI":"10.1017\/s0263574700007748","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:19:50Z","timestamp":1236691190000},"page":"159-165","source":"Crossref","is-referenced-by-count":47,"title":["Certainty Grid Representation for Robot Navigation by a Bayesian Method"],"prefix":"10.1017","volume":"8","author":[{"given":"Dong Woo","family":"Cho","sequence":"first","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2017,8,17]]},"reference":[{"doi-asserted-by":"publisher","key":"S0263574700007748_ref008","DOI":"10.1007\/978-1-4757-4286-2"},{"unstructured":"6. Elfes A. and Matthies L. , \u201cSensor Integration for Robot Navigation: Combining Sonar and Stereo Range Data in a Grid-Based Representation\u201d 26th IEEE Decision and Control Conf., LA, CA 9\u201311 (1987).","key":"S0263574700007748_ref006"},{"unstructured":"5. Stewart K.W. , \u201cA Model-Based Approach to 3-D Imaging and Mapping Underwater\u201d Proc. of the 7th Int. Conf. and Exhibit on Offshore Mechanics and Arctic Engineering (OMAE), Houston, Tex. 7\u201312, (1988).","key":"S0263574700007748_ref005"},{"key":"S0263574700007748_ref004","first-page":"61","article-title":"Sensor Fusion in Certainty Grids for Mobile Robots","volume":"9","author":"Moravec","year":"1988","journal-title":"AI Magazine"},{"volume-title":"Autonomous Mobile Robots: Annual Report 1985","year":"1986","author":"Moravec","key":"S0263574700007748_ref002"},{"doi-asserted-by":"crossref","unstructured":"1. Moravec H.P. and Elfes A. , \u201cHigh Resolution Maps from Wide Angle Sonar\u201d IEEE Inf. Conf. on Robotics and Automation, St. Louis 116\u2013121 (1985).","key":"S0263574700007748_ref001","DOI":"10.1109\/ROBOT.1985.1087316"},{"key":"S0263574700007748_ref003","first-page":"249","article-title":"Sonar-Based Real-World Mapping and Navigation","volume":"3","author":"Elfes","year":"1987","journal-title":"IEEE Trans. RA"},{"key":"S0263574700007748_ref007","first-page":"239","article-title":"Error Modeling in Stereo Navigation","volume":"3","author":"Matthies","year":"1987","journal-title":"IEEE Trans. RA"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700007748","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T04:56:25Z","timestamp":1738990585000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700007748\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1990,4]]},"references-count":8,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1990,4]]}},"alternative-id":["S0263574700007748"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700007748","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[1990,4]]}}}