Eight weeks of episodic visual navigation inside a non-stationary environment using adaptive spherical views

Dayoub, Feras, Cielniak, Grzegorz, & Duckett, Tom (2013) Eight weeks of episodic visual navigation inside a non-stationary environment using adaptive spherical views. In FSR2013 The 9th International Conference on Field and Service Robotics, 9-11 December 2013, Brisbane, Australia.


This paper presents a long-term experiment where a mobile robot uses adaptive spherical views to localize itself and navigate inside a non-stationary office environment. The office contains seven members of staff and experiences a continuous change in its appearance over time due to their daily activities. The experiment runs as an episodic navigation task in the office over a period of eight weeks. The spherical views are stored in the nodes of a pose graph and they are updated in response to the changes in the environment. The updating mechanism is inspired by the concepts of long- and short-term memories. The experimental evaluation is done using three performance metrics which evaluate the quality of both the adaptive spherical views and the navigation over time.

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ID Code: 66327
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
Keywords: Mobile robots, Mapping, Localization, Navigation
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2013 Please consult the authors
Deposited On: 20 Jan 2014 01:24
Last Modified: 29 Apr 2014 10:08

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