In this paper we present a novel approach to mobile robot navigation based on environment representation by statistical models. Natural unstructured scenes are interpreted as realizations of Random Closed Sets (RCSs), whose macroscopic characteristics are mapped. Contrary to feature based approaches, this environment representation does not require the existence of remarkable objects in the workspace, and is robust with respect to small dynamic changes. We address the relocalization problem assuming that a statistical model, serving as a map of the environment, is available a priori. Simulation results demonstrate the feasibility of our approach.
Statistical environment representation for navigation in natural environments
Robotics and Autonomous Systems ; 41 , 2-3 ; 129-136
2002
8 Seiten, 11 Quellen
Aufsatz (Zeitschrift)
Englisch
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