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--- abstract: |- We present a Bayesian CAD modeler for robotic applications. We address the problem of taking into account the propagation of geometric uncertainties when solving inverse geometric problems. The proposed method may be seen as a generalization of constraint-based approaches in which we explicitly model geometric uncertainties. Using our methodology, a geometric constraint is expressed as a probability distribution on the system parameters and the sensor measurements, instead of a simple equality or inequality. To solve geometric problems in this framework, we propose an original resolution method able to adapt to problem complexity. Using two examples, we show how to apply our approach by providing simulation results using our modeler. altloc: [] chapter: ~ commentary: ~ commref: ~ confdates: ~ conference: ~ confloc: ~ contact_email: ~ creators_id: [] creators_name: - family: Mekhnacha given: K honourific: Dr lineage: '' - family: Mazer given: E honourific: Dr lineage: '' - family: Bessiere given: P honourific: Dr lineage: '' date: 2001 date_type: published datestamp: 2004-08-06 department: ~ dir: disk0/00/00/37/39 edit_lock_since: ~ edit_lock_until: ~ edit_lock_user: ~ editors_id: [] editors_name: [] eprint_status: archive eprintid: 3739 fileinfo: /style/images/fileicons/application_pdf.png;/3739/1/Mekhnacha01.pdf full_text_status: public importid: ~ institution: ~ isbn: ~ ispublished: pub issn: ~ item_issues_comment: [] item_issues_count: 0 item_issues_description: [] item_issues_id: [] item_issues_reported_by: [] item_issues_resolved_by: [] item_issues_status: [] item_issues_timestamp: [] item_issues_type: [] keywords: CAD Bayesian robotics lastmod: 2011-03-11 08:55:39 latitude: ~ longitude: ~ metadata_visibility: show note: ~ number: 1 pagerange: ~ pubdom: TRUE publication: Advanced Robotics publisher: ~ refereed: FALSE referencetext: ~ relation_type: [] relation_uri: [] reportno: ~ rev_number: 12 series: ~ source: ~ status_changed: 2007-09-12 16:53:08 subjects: - comp-sci-robot succeeds: ~ suggestions: ~ sword_depositor: ~ sword_slug: ~ thesistype: ~ title: The Design and Implementation of a Bayesian CAD Modeler for Robotic Applications type: journalp userid: 4357 volume: 15