An adaptive appearance-based map for long-term topological localization of mobile robots

Dayoub, Feras & Duckett, Tom (2008) An adaptive appearance-based map for long-term topological localization of mobile robots. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Nice, France, pp. 3364-3369.

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Abstract

"This work considers a mobile service robot which uses an appearance-based representation of its workplace as a map, where the current view and the map are used to estimate the current position in the environment. Due to the nature of real-world environments such as houses and offices, where the appearance keeps changing, the internal representation may become out of date after some time. To solve this problem the robot needs to be able to adapt its internal representation continually to the changes in the environment. This paper presents a method for creating an adaptive map for long-term appearance-based localization of a mobile robot using long-term and short-term memory concepts, with omni-directional vision as the external sensor."--publisher website

Impact and interest:

14 citations in Scopus
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14 citations in Web of Science®

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33 since deposited on 24 Aug 2014
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ID Code: 75099
Item Type: Conference Paper
Refereed: Yes
DOI: 10.1109/IROS.2008.4650701
ISBN: 9781424420575
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2008 IEEE
Copyright Statement: This work was submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible
Deposited On: 24 Aug 2014 22:41
Last Modified: 26 Aug 2014 05:41

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