Long-term experiments with an adaptive spherical view representation for navigation in changing environments

Dayoub, Feras, Cielniak, Grzegorz, & Duckett, Tom (2011) Long-term experiments with an adaptive spherical view representation for navigation in changing environments. Robotics and Autonomous Systems, 59(5), pp. 285-295.

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Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date.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 this work, we introduce a method to update the reference views in a hybrid metrictopological map so that a mobile robot can continue to localize itself in a changing environment. The updating mechanism, based on the multi-store model of human memory, incorporates a spherical metric representation of the observed visual features for each node in the map, which enables the robot to estimate its heading and navigate using multi-view geometry, as well as representing the local 3D geometry of the environment. A series of experiments demonstrate the persistence performance of the proposed system in real changing environments, including analysis of the long-term stability.

Impact and interest:

21 citations in Scopus
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14 citations in Web of Science®

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ID Code: 75102
Item Type: Journal Article
Refereed: Yes
Additional URLs:
Keywords: persistent mapping, omnidirectional vision, mobile robot navigation
DOI: 10.1016/j.robot.2011.02.013
ISSN: 1872-793X
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
Divisions: Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2011 Elsevier BV
Copyright Statement: NOTICE: this is the author’s version of a work that was accepted for publication in Robotics and Autonomous Systems. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Robotics and Autonomous Systems, [59, 5, (2011)] DOI: 10.1016/j.robot.2011.02.013
Deposited On: 14 Aug 2014 22:45
Last Modified: 21 Aug 2014 06:39

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