Dayoub, Feras and Duckett, Tom (2008) An adaptive appearance-based map for long-term topological localization of mobile robots. In: International Conference on Intelligent Robots and Systems 2008, 22-26 September 2008, Nice, France.
|Item Type:||Conference or Workshop contribution (Paper)|
|Item Status:||Live Archive|
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environments such as houses and offices, where the appearance keeps changing, the internal representation may become out of date after some time.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|
|Deposited On:||20 Nov 2008 16:31|
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