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Meta-rooms: Building and Maintaining Long Term Spatial Models in a Dynamic World
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.ORCID-id: 0000-0003-1189-6634
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.ORCID-id: 0000-0002-7796-1438
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.ORCID-id: 0000-0002-1170-7162
2014 (engelsk)Inngår i: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS 2014), IEEE conference proceedings, 2014, s. 1854-1861Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

We present a novel method for re-creating the static structure of cluttered office environments -which we define as the " meta-room" -from multiple observations collected by an autonomous robot equipped with an RGB-D depth camera over extended periods of time. Our method works directly with point clusters by identifying what has changed from one observation to the next, removing the dynamic elements and at the same time adding previously occluded objects to reconstruct the underlying static structure as accurately as possible. The process of constructing the meta-rooms is iterative and it is designed to incorporate new data as it becomes available, as well as to be robust to environment changes. The latest estimate of the meta-room is used to differentiate and extract clusters of dynamic objects from observations. In addition, we present a method for re-identifying the extracted dynamic objects across observations thus mapping their spatial behaviour over extended periods of time.

sted, utgiver, år, opplag, sider
IEEE conference proceedings, 2014. s. 1854-1861
Serie
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Emneord [en]
Intelligent robots, Dynamic elements, Dynamic objects, Environment change, Occluded objects, Office environments, Point clusters, Spatial models, Static structures
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-156601DOI: 10.1109/IROS.2014.6942806ISI: 000349834601141Scopus ID: 2-s2.0-84911488888ISBN: 978-1-4799-6934-0 (tryckt)OAI: oai:DiVA.org:kth-156601DiVA, id: diva2:767282
Konferanse
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Palmer House Hilton Hotel Chicago, United States, 14 September 2014 through 18 September 2014
Prosjekter
Strands
Forskningsfinansiär
EU, FP7, Seventh Framework Programme
Merknad

QC 20141205

Tilgjengelig fra: 2014-12-01 Laget: 2014-12-01 Sist oppdatert: 2015-04-07bibliografisk kontrollert

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