Krajnik, Tomas and Pulido Fentanes, Jaime and Santos, Joao and Kusumam, Keerthy and Duckett, Tom (2015) FreMEn: frequency map enhancement for long-term mobile robot autonomy in changing environments. In: ICRA 2015 Workshop on Visual Place Recognition in Changing Environments, 26 - 30 May, 2015, Seattle, USA.
VPRiCE_2015_FreMEn.pdf - Whole Document
icra_2015_vprce_poster.pdf - Presentation
|Item Type:||Conference or Workshop contribution (Paper)|
|Item Status:||Live Archive|
We present a method for introducing representation of dynamics into environment models that were originally tailored to represent static scenes. Rather than using a fixed probability value, the method models the uncertainty of the elementary environment states by probabilistic functions of time. These are composed of combinations of harmonic functions, which are obtained by means of frequency analysis. The use of frequency analysis allows to integrate long-term observations into memory-efficient spatio-temporal models that reflect the mid- to long-term environment dynamics. These frequency-enhanced spatio-temporal models allow to predict the future environment states, which improves the efficiency of mobile robot operation in changing environments. In a series of experiments performed over periods of days to years, we demonstrate that the proposed approach improves localization, path planning and exploration.
|Keywords:||mobile robotics, long-term autonomy, localization and mapping|
|Subjects:||H Engineering > H670 Robotics and Cybernetics|
|Divisions:||College of Science > School of Computer Science|
|Deposited On:||23 Jul 2015 12:49|
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