Long-term topological localisation for service robots in dynamic environments using spectral maps

Krajnik, Tomas, Pulido Fentanes, Jaime, Martinez Mozos, Oscar , Duckett, Tom, Ekekrantz, Johan and Hanheide, Marc (2014) Long-term topological localisation for service robots in dynamic environments using spectral maps. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 14-18 2014, Chicago.

Long-Term Topological Localisation for Service Robots in Dynamic Environments using Spectral Maps
iros_2014_public.pdf - Whole Document

Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive


This paper presents a new approach for topological localisation of service robots in dynamic indoor environments. In contrast to typical localisation approaches that rely mainly on static parts of the environment, our approach makes explicit use of information about changes by learning and modelling the spatio-temporal dynamics of the environment where the robot is acting. The proposed spatio-temporal world model is able to predict environmental changes in time, allowing the robot to improve its localisation capabilities during long-term operations in populated environments. To investigate the proposed approach, we have enabled a mobile robot to autonomously patrol a populated environment over a period of one week while building the proposed model representation. We demonstrate that the experience learned during one week is applicable for topological localization even after a hiatus of three months by showing that the localization error rate is significantly lower compared to static environment representations.

Keywords:topological localisation, mobile robotics, spatio-temporal mapping, bmjconvert
Subjects:H Engineering > H670 Robotics and Cybernetics
Divisions:College of Science > School of Computer Science
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ID Code:14423
Deposited On:30 Jun 2014 09:46

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