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Practice Makes Perfect? Managing and Leveraging Visual Experiences for Lifelong Navigation

Abstract:

This paper is about long-term navigation in environments whose appearance changes over time - suddenly or gradually. We describe, implement and validate an approach which allows us to incrementally learn a model whose complexity varies naturally in accordance with variation of scene appearance. It allows us to leverage the state of the art in pose estimation to build over many runs, a world model of sufficient richness to allow simple localisation despite a large variation in conditions. As o...

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Publication status:
Published

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Publisher copy:
10.1109/ICRA.2012.6224596
Journal:
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) More from this journal
Pages:
4525-4532
Publication date:
2012-01-01
DOI:
ISSN:
1050-4729
Language:
English
Pubs id:
pubs:348863
UUID:
uuid:6e1f47ff-ee49-4b09-bfa8-bd3539b761e4
Local pid:
pubs:348863
Source identifiers:
348863
Deposit date:
2013-11-17

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