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.

Abstract

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.

Impact and interest:

Citation counts are sourced monthly from Scopus and Web of Science® citation databases.

These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

Full-text downloads:

101 since deposited on 20 Jan 2014
10 in the past twelve months

Full-text downloads displays the total number of times this work’s files (e.g., a PDF) have been downloaded from QUT ePrints as well as the number of downloads in the previous 365 days. The count includes downloads for all files if a work has more than one.

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

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page