An adaptive appearance-based map for long-term topological localization of mobile robots

Dayoub, Feras and Duckett, Tom (2008) An adaptive appearance-based map for long-term topological localization of mobile robots. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008). IEEE, pp. 3364-3369. ISBN 9781424420575

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An Adaptive Appearance-based Map for Long-Term Topological Localization of Mobile Robots
in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), Nice, France, 22-26 September, 2008, pp. 3364-3369.
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Abstract

This work considers a mobile service robot which uses an appearance-based representation of its workplace as a map, where the current view and the map are used to estimate the current position in the environment. Due to the nature of real-world environments such as houses and offices, where the appearance keeps changing, the internal representation may become out of date after some time. To solve this problem the robot needs to be able to adapt its internal representation continually to the changes in the environment. This paper presents a method for creating an adaptive map for long-term appearance-based localization of a mobile robot using long-term and short-term memory concepts, with omni-directional vision as the external sensor.

Item Type:Book Section
Additional Information:This work considers a mobile service robot which uses an appearance-based representation of its workplace as a map, where the current view and the map are used to estimate the current position in the environment. Due to the nature of real-world environments such as houses and offices, where the appearance keeps changing, the internal representation may become out of date after some time. To solve this problem the robot needs to be able to adapt its internal representation continually to the changes in the environment. This paper presents a method for creating an adaptive map for long-term appearance-based localization of a mobile robot using long-term and short-term memory concepts, with omni-directional vision as the external sensor.
Keywords:mobile robot, mapping, self-localisation, vision, navigation
Subjects:G Mathematical and Computer Sciences > G700 Artificial Intelligence
G Mathematical and Computer Sciences > G400 Computer Science
G Mathematical and Computer Sciences > G760 Machine Learning
G Mathematical and Computer Sciences > G740 Computer Vision
Divisions:College of Science > School of Computer Science
ID Code:1679
Deposited By: Tom Duckett
Deposited On:20 Nov 2008 16:31
Last Modified:13 Mar 2013 08:30

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