Towards Life-Long Autonomy of Mobile Robots Through Feature-Based Change Detection

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00334775" target="_blank" >RIV/68407700:21230/19:00334775 - isvavai.cz</a>

Alternative codes found

RIV/68407700:21730/19:00334775

Result on the web

<a href="https://doi.org/10.1109/ECMR.2019.8870940" target="_blank" >https://doi.org/10.1109/ECMR.2019.8870940</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ECMR.2019.8870940" target="_blank" >10.1109/ECMR.2019.8870940</a>

Result language

angličtina

Original language name

Towards Life-Long Autonomy of Mobile Robots Through Feature-Based Change Detection

Original language description

Autonomous mobile robots are becoming increasingly important in many industrial and domestic environments. Dealing with unforeseen situations is a difficult problem that must be tackled in order to move closer to the ultimate goal of life-long autonomy. In computer vision-based methods employed on mobile robots, such as localization or navigation, one of the major issues is the dynamics of the scenes. The autonomous operation of the robot may become unreliable if the changes that are common in dynamic environments are not detected and managed. Moving chairs, opening and closing doors or windows, replacing objects on the desks and other changes make many conventional methods fail. To deal with that, we present a novel method for change detection based on the similarity of local visual features. The core idea of the algorithm is to distinguish important stable regions of the scene from the regions that are changing. To evaluate the change detection algorithm, we have designed a simple visual localization framework based on feature matching and we have performed a series of real-world localization experiments. The results have shown that the change detection method substantially improves the accuracy of the robot localization, compared to using the baseline localization method without change detection.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

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OECD FORD branch

20204 - Robotics and automatic control

Project

<a href="/en/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotics 4 Industry 4.0</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year

2019

Confidentiality

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

Article name in the collection

Proceedings of European Conference on Mobile Robots

ISBN

978-1-7281-3605-9

ISSN

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e-ISSN

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Number of pages

6

Pages from-to

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Publisher name

Czech Technical University

Place of publication

Prague

Event location

Prague

Event date

Aug 4, 2019

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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