Abstract
Goal-oriented acting in dynamic environments is a challenging task for a mobile robot. A fundamental problem to be solved is to map the environment during exploration. Since everyday, environments are typically not static, landmarks can occur and disappear at any time. Therefore, a SLAM approach must be able to cope with the characteristics of such environments. This work presents a multicriteria utility function to select landmarks for SLAM in dynamic environments. The landmark utility function takes into account the salience, the probability of reobservation, and the relevance for localization of a landmark. Taking into account these criteria, now enables the selection of landmarks for SLAM in dynamic environments. The performance of the approach is shown in a real-world experiment with a P3DX-platform in a living room environment.
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Acknowledgments
This work has been conducted within the ZAFH Servicerobotik (http://www.servicerobotik-ulm.de/). The authors gratefully acknowledge the research grants of state of Baden-Württemberg and the European Union.
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Hochdorfer, S., Neumann, H., Schlegel, C. (2016). Landmark Rating and Selection for SLAM in Dynamic Environments. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_30
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DOI: https://doi.org/10.1007/978-3-319-08338-4_30
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