Statistical environment representation for navigation in natural environments

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 realisations of Random Closed Sets (RCS), whose global characteristics are mapped. Contrary to the feature based approach, this environment representation does not require the existence of outstanding objects in the workspace, and is robust with respect to small dynamic changes. We address the relocalisation 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.

• Type: Journal
• Year: 2002
• Where: RAS
• Authors: Stefan Rolfes, Maria-João Rendas
• Keywords: Feature Based Approach, Natural Unstructured Scenes, RAS 2002, Statistical Model