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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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Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date.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, ref11, refdoi
Subjects:	G Mathematical and Computer Sciences > G700 Artificial Intelligence G Mathematical and Computer Sciences > G400 Computer Science
Divisions:	College of Sciences > Faculty of Science > Lincoln School of Computer Science
Depositing User:	Users 501912 not found.
Date Deposited:	19 Aug 2012 09:17
Last Modified:	15 May 2013 09:03
URI:	http://eprints.lincoln.ac.uk/id/eprint/6046

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