Episodic non-Markov localization

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• 作者：Joydeep Biswas ; ¹ ; ^{joydeepb@cs.cmu.edu}Author Vitae ; Manuela M. Veloso ^{veloso@cs.cmu.edu}Author Vitae
• 关键词：Localization ; Long-term autonomy ; Mapping
• 刊名：Robotics and Autonomous Systems
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：87
• 期：Complete
• 页码：162-176
• 全文大小：2460 K
• 卷排序：87

文摘

Reasoning about observations arising from permanent, temporary, or moving objects for mobile robot localization in changing environments. A new graphical representation that augments the Markov localization DBN to represent the presence of, and correlations between observations of unmapped objects. Derivation of the belief for Episodic non-Markov Localization (EnML). Analysis of its computational complexity. Experimental results showing the benefits of EnML.