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In this paper, we will review the process of evidence accumulation in thePSEIKI system for expectation-driven interpretation of images of 3-D scenes.Expectations are presented to PSEIKI as a geometrical hierarchy ofabstractions. PSEIKI's job is then to construct abstraction hierarchies in theperceived image taking cues from the abstraction hierarchies in theexpectations. The Dempster-Shafer formalism is used for associating beliefvalues with the different possible labels for the constructed abstractions inthe perceived image. This system has been used successfully for autonomousnavigation of a mobile robot in indoor environments.

Hierarchical Evidence Accumulation in the Pseiki System and Experiments in Model-Driven Mobile Robot Navigation