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FreMEn: Frequency Map Enhancement for Long-Term Autonomy of Mobile Robots

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00317553" target="_blank" >RIV/68407700:21230/17:00317553 - isvavai.cz</a>

  • Result on the web

    <a href="https://cloudslam.fer.hr/cloudslam/workshop/speakers" target="_blank" >https://cloudslam.fer.hr/cloudslam/workshop/speakers</a>

  • DOI - Digital Object Identifier

Alternative languages

  • Result language

    angličtina

  • Original language name

    FreMEn: Frequency Map Enhancement for Long-Term Autonomy of Mobile Robots

  • Original language description

    While robotic mapping of static environments has been widely studied, life-long mapping in non-stationary environments is still an open problem. We present an approach for long-term representation of natural environments, where many of the observed changes are caused by pseudo-periodic factors, such as seasonal variations, or humans performing their daily chores. Rather than using a fixed probability value, our method models the uncertainty of the elementary environment states by their persistence and frequency spectra. This allows to integrate sparse and irregular observations obtained during long-term deployments of mobile robots into memory-efficient models that reflect the recurring patterns of activity in the environment. The frequency-enhanced spatio-temporal models allow to predict the future environment states, which improves the efficiency of mobile robot operation in changing environments. In a series of experiments performed over periods of weeks to years, we demonstrate that the proposed approach improves mobile robot localization, path and task planning, activity recognition and allows for life-long spatio-temporal exploration.

  • Czech name

  • Czech description

Classification

  • Type

    O - Miscellaneous

  • CEP classification

  • OECD FORD branch

    10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Result continuities

  • Project

  • Continuities

    I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Others

  • Publication year

    2017

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů