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
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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
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Czech description
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Classification
Type
O - Miscellaneous
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)
Result continuities
Project
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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