Krajnik, Tomas and Pulido Fentanes, Jaime and Martinez Mozos, Oscar and Duckett, Tom and Ekekrantz, Johan and Hanheide, Marc (2014) Long-term topological localisation for service robots in dynamic environments using spectral maps. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 14-18 2014, Chicago.
iros_2014_public.pdf - Whole Document
This paper presents a new approach for topological localisation of service robots in dynamic indoor environments. In contrast to typical localisation approaches that rely mainly on static parts of the environment, our approach makes explicit use of information about changes by learning and modelling the spatio-temporal dynamics of the environment where the robot is acting. The proposed spatio-temporal world model is able to predict environmental changes in time, allowing the robot to improve its localisation capabilities during long-term operations in populated environments. To investigate the proposed approach, we have enabled a mobile robot to autonomously patrol a populated environment over a period of one week while building the proposed model representation. We demonstrate that the experience learned during one week is applicable for topological localization even after a hiatus of three months by showing that the localization error rate is significantly lower compared to static environment representations.
|Item Type:||Conference or Workshop contribution (Paper)|
|Keywords:||topological localisation, mobile robotics, spatio-temporal mapping, bmjconvert|
|Subjects:||H Engineering > H670 Robotics and Cybernetics|
|Divisions:||College of Science > School of Computer Science|
|Deposited By:||Tomas Krajnik|
|Deposited On:||30 Jun 2014 09:46|
|Last Modified:||16 Sep 2014 18:18|
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