کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
413250 | 680382 | 2011 | 11 صفحه PDF | دانلود رایگان |
Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date.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 metric-topological 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.
► We introduce a method to update a hybrid metric-topological map by a mobile robot.
► The updating mechanism is based on the multi-store model of human memory.
► The map incorporates spherical view representations of the environment.
► We conducted a long-term experiment in real changing environments.
Journal: Robotics and Autonomous Systems - Volume 59, Issue 5, May 2011, Pages 285–295