Meta-rooms: Building and Maintaining Long Term Spatial Models in a Dynamic World
2014 (English)In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS 2014), IEEE conference proceedings, 2014, 1854-1861 p.Conference paper (Refereed)
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.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2014. 1854-1861 p.
, IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Intelligent robots, Dynamic elements, Dynamic objects, Environment change, Occluded objects, Office environments, Point clusters, Spatial models, Static structures
IdentifiersURN: urn:nbn:se:kth:diva-156601DOI: 10.1109/IROS.2014.6942806ISI: 000349834601141ScopusID: 2-s2.0-84911488888ISBN: 978-1-4799-6934-0OAI: oai:DiVA.org:kth-156601DiVA: diva2:767282
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
FunderEU, FP7, Seventh Framework Programme
QC 201412052014-12-012014-12-012015-04-07Bibliographically approved