Fremen: Frequency map enhancement for long-term mobile robot autonomy in changing environments

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00311497" target="_blank" >RIV/68407700:21230/17:00311497 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/document/7878680/" target="_blank" >http://ieeexplore.ieee.org/document/7878680/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/TRO.2017.2665664" target="_blank" >10.1109/TRO.2017.2665664</a>

Result language
angličtina
Original language name
Fremen: Frequency map enhancement for long-term mobile robot autonomy in changing environments
Original language description
We present a new approach to long-term mobile robot mapping in dynamic indoor environments. Unlike traditional world models that are tailored to represent static scenes, our approach explicitly models environmental dynamics. We assume that some of the hidden processes that influence the dynamic environment states are periodic and model the uncertainty of the estimated state variables by their frequency spectra. The spectral model can represent arbitrary timescales of environment dynamics with low memory requirements. Transformation of the spectral model to the time domain allows for the prediction of the future environment states, which improves the robot’s long-term performance in dynamic environments. Experiments performed over time periods of months to years demonstrate that the approach can efficiently represent large numbers of observations and reliably predict future environment states. The experiments indicate that the model’s predictive capabilities improve mobile robot localisation and navigation in changing environments.
Czech name
—
Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project
<a href="/en/project/GJ17-27006Y" target="_blank" >GJ17-27006Y: Spatio-temporal representations for life-long mobile robot navigation</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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