FreMEn: frequency map enhancement for long-term mobile robot autonomy in changing environments
IEEE Transactions on Robotics(2017)
摘要
We present a new approach to long-term mobile robot mapping in dynamic indoor environments. Unlike traditional world models that are tailored to represent static scenes, our approach explicitly models environmental dynamics. We assume that some of the hidden processes that influence the dynamic environment states are periodic and model the uncertainty of the estimated state variables by their freq...
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关键词
Hidden Markov models,Mobile robots,Uncertainty,Robustness,Harmonic analysis,Navigation
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