Abstract
This chapter presents and discusses the aspects involved in the selection and development of the proposed geometrical and topological world model representation. The indexing structures and query mechanisms necessary for recognition (used during the visual assertion queries and visual global self-localization) are described in detailed presentation of the transformations from standard CAD models (inform of interchange files) to the proposed sensor-independent graph and geometric representation is provided. This is conveniently illustrated with examples of the experimental scenarios. The evaluation of the developed representation and querying is provided.
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