Long-term experiments with an adaptive spherical view representation for navigation in changing environments

Dayoub, Feras and Cielniak, Grzegorz and Duckett, Tom (2011) Long-term experiments with an adaptive spherical view representation for navigation in changing environments. Robotics and Autonomous Systems, 59 (5). pp. 285-295. ISSN 0921-8890

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Long-Term Experiments with an Adaptive Spherical View Representation for Navigation in Changing Environments
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Official URL: http://dx.doi.org/10.1016/j.robot.2011.02.013

Abstract

Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date. In this work, we introduce a method to update the reference views in a hybrid metric-topological map so that a mobile robot can continue to localize itself in a changing environment. The updating mechanism, based on the multi-store model of human memory, incorporates a spherical metric representation of the observed visual features for each node in the map, which enables the robot to estimate its heading and navigate using multi-view geometry, as well as representing the local 3D geometry of the environment. A series of experiments demonstrate the persistence performance of the proposed system in real changing environments, including analysis of the long-term stability.

Item Type:Article
Keywords:Mobile robot navigation, Omnidirectional vision, Persistent mapping, bmjversion
Subjects:G Mathematical and Computer Sciences > G700 Artificial Intelligence
G Mathematical and Computer Sciences > G400 Computer Science
Divisions:College of Science > School of Computer Science
ID Code:6046
Deposited By:INVALID USER
Deposited On:19 Aug 2012 09:17
Last Modified:04 Dec 2013 16:09

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