CAT-GRAPH+ : towards odometry-driven place consolidation in changing environments
Lowry, Stephanie, Wyeth, Gordon, & Milford, Michael (2012) CAT-GRAPH+ : towards odometry-driven place consolidation in changing environments. In Carnegie, Dale (Ed.) Proceedings of the 2012 Australasian Conference on Robotics & Automation, Australian Robotics & Automation Association, Wellington, New Zealand .
Changing environments present a number of challenges to mobile robots, one of the most significant being mapping and localisation. This problem is particularly significant in vision-based systems where illumination and weather changes can cause feature-based techniques to fail. In many applications only sections of an environment undergo extreme perceptual change. Some range-based sensor mapping approaches exploit this property by combining occasional place recognition with the assumption that odometry is accurate over short periods of time. In this paper, we develop this idea in the visual domain, by using occasional vision-driven loop closures to infer loop closures in nearby locations where visual recognition is difficult due to extreme change. We demonstrate successful map creation in an environment in which change is significant but constrained to one area, where both the vanilla CAT-Graph and a Sum of Absolute Differences matcher fails, use the described techniques to link dissimilar images from matching locations, and test the robustness of the system against false inferences.
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|Item Type:||Conference Paper|
|Keywords:||Mobile robots, Mapping, Navigation, Vision-based|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)|
|Divisions:||Current > Schools > School of Earth, Environmental & Biological Sciences
Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2012 Please consult the authors|
|Deposited On:||06 Mar 2013 00:33|
|Last Modified:||12 Jun 2013 15:34|
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