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Visual Memory Update for Life-Long Mobile Robot Navigation

  • Jonathan Courbon
  • Hemanth Korrapati
  • Youcef Mezouar
Part of the Studies in Computational Intelligence book series (SCI, volume 466)

Abstract

A central clue for implementation of visual memory based navigation strategies relies on efficient point matching between the current image and the key images of the memory. However, the visual memory may become out of date after some times because the appearance of real-world environments keeps changing. It is thus necessary to remove obsolete information and to add new data to the visual memory over time. In this paper, we propose a method based on short-term and long term memory concepts to update the visual memory of mobile robots during navigation. The results of our experiments show that using this method improves the robustness of the localization and path-following steps.

Keywords

Visual memory life-long mapping mobile robots 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Jonathan Courbon
    • 1
  • Hemanth Korrapati
    • 1
  • Youcef Mezouar
    • 1
    • 2
  1. 1.Clermont Université, Université Blaise Pascal, Institut PascalClermont-FerrandFrance
  2. 2.CNRS, UMR 6602AubièreFrance

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