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

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/68407700:21730/19:00334775

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotika pro Průmysl 4.0</a><br>

Návaznosti

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

Rok uplatnění

2019

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of European Conference on Mobile Robots

ISBN

978-1-7281-3605-9

ISSN

—

e-ISSN

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Počet stran výsledku

6

Strana od-do

—

Název nakladatele

Czech Technical University

Místo vydání

Prague

Místo konání akce

Prague

Datum konání akce

4. 8. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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