Title :
Lifelong localization of a mobile service-robot in everyday indoor environments using omnidirectional vision
Author :
Hochdorfer, Siegfried ; Lutz, Matthias ; Schlegel, Christian
Author_Institution :
Comput. Sci. Dept., Univ. of Appl. Sci. Ulm, Ulm, Germany
Abstract :
SLAM (Simultaneous Localization and Mapping) mechanisms are a key component towards advanced service robotics applications. Currently, a major hurdle on the way to lifelong localization is the handling of the ever growing amount of landmarks over time. Therefore, the required resources in terms of memory and processing power are also growing over time.
Keywords :
SLAM (robots); mobile robots; pattern clustering; service robots; indoor environments; lifelong localization; memory resources; mobile service-robot; omnidirectional vision; processing power; simultaneous localization and mapping; Clustering algorithms; Global Positioning System; Indoor environments; Mobile computing; Observability; Robot localization; Robot vision systems; Simultaneous localization and mapping; Uncertainty; Upper bound;
Conference_Titel :
Technologies for Practical Robot Applications, 2009. TePRA 2009. IEEE International Conference on
Conference_Location :
Woburn, MA
Print_ISBN :
978-1-4244-4991-0
Electronic_ISBN :
978-1-4244-4992-7
DOI :
10.1109/TEPRA.2009.5339626
