Object-Based Pose Graph for Dynamic Indoor Environments

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00342285" target="_blank" >RIV/68407700:21230/20:00342285 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/20:00342285
Result on the web
<a href="https://doi.org/10.1109/LRA.2020.3007402" target="_blank" >https://doi.org/10.1109/LRA.2020.3007402</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2020.3007402" target="_blank" >10.1109/LRA.2020.3007402</a>

Result language
angličtina
Original language name
Object-Based Pose Graph for Dynamic Indoor Environments
Original language description
Relying on static representations of the environment limits the use of mapping methods in most real-world tasks. Real-world environments are dynamic and undergo changes that need to be handled through map adaptation. In this work, an object-based pose graph is proposed to solve the problem of mapping in indoor dynamic environments with mobile robots. In contrast to state-of-the art methods where binary classifications between movable and static objects are used, we propose a new method to capture the probability of different objects over time. Object probability represents how likely it is to find a specific object in its previous location and it gives a quantification of how movable specific objects are. In addition, grouping object probabilities according to object class allows us to evaluate the movability of different object classes. We validate our object-based pose graph in real-world dynamic environments. Results in mapping and map adaptation with a real robot show efficient map maintenance through several mapping sessions and results in object classification according to movability show an improvement compared to binary classification.
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
—
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/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
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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