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2016 | OriginalPaper | Chapter

Landmark Rating and Selection for SLAM in Dynamic Environments

Authors : Siegfried Hochdorfer, Heiko Neumann, Christian Schlegel

Published in: Intelligent Autonomous Systems 13

Publisher: Springer International Publishing

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Abstract

Goal-oriented acting in dynamic environments is a challenging task for a mobile robot. A fundamental problem to be solved is to map the environment during exploration. Since everyday, environments are typically not static, landmarks can occur and disappear at any time. Therefore, a SLAM approach must be able to cope with the characteristics of such environments. This work presents a multicriteria utility function to select landmarks for SLAM in dynamic environments. The landmark utility function takes into account the salience, the probability of reobservation, and the relevance for localization of a landmark. Taking into account these criteria, now enables the selection of landmarks for SLAM in dynamic environments. The performance of the approach is shown in a real-world experiment with a P3DX-platform in a living room environment.

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previous chapter A Kinect-Based Front-End for Graph-SLAM Using Plane Matching in Planar Indoor Environments
next chapter Fast Active SLAM for Accurate and Complete Coverage Mapping of Unknown Environments
Appendix
Available only for authorised users
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Metadata
Title
Landmark Rating and Selection for SLAM in Dynamic Environments
Authors
Siegfried Hochdorfer
Heiko Neumann
Christian Schlegel
Copyright Year
2016
Book
Intelligent Autonomous Systems 13

Print ISBN: 978-3-319-08337-7

Electronic ISBN: 978-3-319-08338-4

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-08338-4_30

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