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

Feras Dayoub, Grzegorz Cielniak, Tom Duckett
2011 Robotics and Autonomous Systems  
Real-world environments such as houses and offices change over time, meaning that a mobile robot's map will become out of date.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
more » ... 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.
doi:10.1016/j.robot.2011.02.013 fatcat:7ii3lhadfjg3rljcyip2gx2mxu