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GRASP Special Seminar: Tomas Krajnik, University of Lincoln, UK, “FreMEn: Frequency Map Enhancement for Long-Term Autonomy of Mobile Robots”

April 25, 2016 @ 1:00 pm - 2:00 pm


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.


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Tom Krajnik is a research fellow at the Lincoln Center of Autonomous Systems, UK. He has received the Ph.D. degree in Artificial Intelligence and Biocybernetics from the Czech Technical University, Prague, Czech Republic, in 2012. His research interests include long-term autonomy, robot vision and aerial robotics.


April 25, 2016
1:00 pm - 2:00 pm
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