Fusion of spatially referring natural language statements with random set theoretic likelihoods

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Journal Article
IEEE Transactions on Aerospace and Electronic Systems, 2013, 49 (2), pp. 932 - 944
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Localisation via the fusion of spatially referring natural language statements is considered here. The contribution lies in the underlying problem formulation and a robust modelling framework. Random-set-based estimation is the underlying mathematical formalism. Each statement generates a generalised likelihood function. A Bayesian filter is outlined that takes a sequence of likelihoods generated by multiple statements. The idea is to recursively build a map over the state space that can be used to infer the state. © 1965-2011 IEEE.
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