Representing partial and uncertain sensorial information using the theory of symmetries

The author proposes a general model for representing sensorial information and its uncertainty, the symmetries and perturbation model (SPmodel). In the model the intrinsic partiality of geometric information is represented in terms of symmetries of the involved geometric elements. Location uncertainty due to sensor imprecision is represented by means of a local perturbation, expressed in a reference frame attached to the geometric element, with an associated probabilistic model. Using the SPmodel, a method is developed for integrating geometric information that allows estimation of the location of a feature or an object from a set of partial and uncertain observations. The integration mechanisms are based on extended Kalman filter theory