Matthew Self

Estimating uncertain spatial relationships in robotics

In this paper, we describe a representation for spatial information, called the stochastic map, and associated procedures for building it, reading information from it, and revising it incrementally as new information is obtained. The map contains the estimates of relationships among objects in the map, and their uncertainties, given all the available information. The procedures provide a general solution to the problem of estimating uncertain relative spatial relationships. The estimates are probabilistic in nature, an advance over the previous, very conservative, worst-case approaches to the problem. Finally, the procedures are developed in the context of state-estimation and filtering theory, which provides a solid basis for numerous extensions.

AutoClass: a Bayesian classification system

This paper describes AutoClass II, a program for automatically discovering (inducing) classes from a database, based on a Bayesian statistical technique which automatically determines the most probable number of classes, their probabilistic descriptions, and the probability that each object is a member of each class. AutoClass has been tested on several large, real databases and has discovered previously unsuspected classes. There is no doubt that these classes represent new phenomena.