Change detection using weighted features for image-based localization

Autonomous mobile robots are becoming increasingly important in many industrial and domestic environments. Dealing with unforeseen situations is a difficult problem that must be tackled to achieve long-term robot autonomy. In vision-based localization and navigation methods, one of the major issues is the scene dynamics. The autonomous...

Object-based pose graph for dynamic indoor environments

Relying on static representations of the environment limits the use of mapping methods in most real-world tasks. Real-world environments are dynamic and undergo changes that need to be handled through map adaptation. In this work, an object-based pose graph is proposed to solve the problem of mapping in indoor dynamic environments with mobile...

Towards life-long autonomy of mobile robots through feature-based change detection

Autonomous mobile robots are becoming increasingly important in many industrial and domestic environments. Dealing with unforeseen situations is a difficult problem that must be tackled in order to move closer to the ultimate goal of life-long autonomy. In computer vision-based methods employed on mobile robots, such as localization or...