Séminaire: “reMEn: Frequency Map Enhancement for Long-Term Autonomy of Mobile Robots”
 /  Séminaire: “reMEn: Frequency Map Enhancement for Long-Term Autonomy of Mobile Robots”

Séminaire: “reMEn: Frequency Map Enhancement for Long-Term Autonomy of Mobile Robots”

Quand :
14 novembre 2018 @ 14 h 30 min – 16 h 00 min
2018-11-14T14:30:00+01:00
2018-11-14T16:00:00+01:00
Où :
Campus de Montbéliard (M208)

While robotic mapping of static environments has been widely studied, life-long mapping in non-stationary environments is still an open problem. We present an approach for long-term representation of natural environments, where many of the observed changes are caused by pseudo-periodic factors, such as seasonal variations, or humans performing their daily chores. Rather than using a fixed probability value, our method models the uncertainty of the elementary environment states by their frequency spectra. This allows to integrate sparse and irregular observations obtained during long-term deployments of mobile robots into memory-efficient models that reflect the recurring patterns of activity in the environment. The frequency-enhanced spatio-temporal models allow to predict the future environment states, which improves the efficiency of mobile robot operation in changing environments. In a series of experiments performed over periods of weeks to years, we demonstrate that the proposed approach improves mobile robot localization, path and task planning, activity recognition and allows for life-long spatio-temporal exploration.

UNIVERSITÉ DE TECHNOLOGIE DE BELFORT-MONTBÉLIARD

90010 Belfort cedex
Tel : +33 (0) 3 84 58 30 00
Fax : +33 (0) 3 84 58 30 30
Etablissement public membre de la Conférence des Grandes Ecoles (CGE), l’UTBM est habilitée par la Commission des Titres d’Ingénieur (CTI) à délivrer le titre d’ingénieur français et le label européen de qualité EUR-ACE pour la reconnaissance de ses 9 spécialités de diplôme d’ingénieur.


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