An adaptive spherical view representation for navigation in changing environments

Dayoub, Feras, Duckett, Tom, & Cielniak, Grzegorz (2009) An adaptive spherical view representation for navigation in changing environments. In Proceedings of the 4th European Conference on Mobile Robots, ECMR'09, KoREMA, Mlini/Dubrovnik, Croatia, pp. 1-6.

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Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date. In previous work we introduced a method to update the reference views in a topological map so that a mobile robot could continue to localize itself in a changing environment using omni-directional vision. In this work we extend this longterm updating mechanism to incorporate a spherical metric representation of the observed visual features for each node in the topological map. Using multi-view geometry we are then able to estimate the heading of the robot, in order to enable navigation between the nodes of the map, and to simultaneously adapt the spherical view representation in response to environmental changes. The results demonstrate the persistent performance of the proposed system in a long-term experiment.

Impact and interest:

14 citations in Web of Science®
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17 since deposited on 25 Aug 2014
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ID Code: 75100
Item Type: Conference Paper
Refereed: Yes
ISBN: 978-953-6037-54-4
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2009 [please consult the author]
Deposited On: 25 Aug 2014 01:49
Last Modified: 26 Aug 2014 05:44

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