Abstract
This paper presents a long-term experiment where a mobile robot uses adaptive spherical views to localize itself and navigate inside a non-stationary office environment. The office contains seven members of staff and experiences a continuous change in its appearance over time due to their daily activities. The experiment runs as an episodic navigation task in the office over a period of eight weeks. The spherical views are stored in the nodes of a pose graph and they are updated in response to the changes in the environment. The updating mechanism is inspired by the concepts of long- and short-term memories. The experimental evaluation is done using three performance metrics which evaluate the quality of both the adaptive spherical views and the navigation over time.
An extended abstract of this paper appeared as [6]
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Dayoub, F., Cielniak, G., Duckett, T. (2015). Eight Weeks of Episodic Visual Navigation Inside a Non-stationary Environment Using Adaptive Spherical Views. In: Mejias, L., Corke, P., Roberts, J. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 105. Springer, Cham. https://doi.org/10.1007/978-3-319-07488-7_26
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DOI: https://doi.org/10.1007/978-3-319-07488-7_26
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