Temporal Occupancy Grid for mobile robot dynamic environment mapping

Mitsou, NC; Tzafestas, CS

dc.contributor.author	Mitsou, NC	en
dc.contributor.author	Tzafestas, CS	en
dc.date.accessioned	2014-03-01T02:44:58Z
dc.date.available	2014-03-01T02:44:58Z
dc.date.issued	2007	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32059
dc.subject	Access Method	en
dc.subject	Dynamic Environment	en
dc.subject	Indoor Environment	en
dc.subject	Mobile Robot	en
dc.subject	Moving Object	en
dc.subject	Occupancy Grid	en
dc.subject	Simulation Experiment	en
dc.subject	Time Series	en
dc.subject.other	Automation	en
dc.subject.other	Canning	en
dc.subject.other	Conformal mapping	en
dc.subject.other	Detector circuits	en
dc.subject.other	Industrial engineering	en
dc.subject.other	Maps	en
dc.subject.other	Robotics	en
dc.subject.other	Time series analysis	en
dc.subject.other	Access methods	en
dc.subject.other	Control and automation	en
dc.subject.other	Dynamic environments	en
dc.subject.other	Indoor environments	en
dc.subject.other	Moving objects	en
dc.subject.other	Occupancy grids	en
dc.subject.other	Simulated experiments	en
dc.subject.other	Time-series	en
dc.subject.other	Robots	en
dc.title	Temporal Occupancy Grid for mobile robot dynamic environment mapping	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/MED.2007.4433892	en
heal.identifier.secondary	http://dx.doi.org/10.1109/MED.2007.4433892	en
heal.identifier.secondary	4433892	en
heal.publicationDate	2007	en
heal.abstract	Mapping dynamic environments is an open issue in the field of robotics. In this paper, we extend the well known Occupancy Grid structure to address the problem of generating valid maps for dynamic indoor environments. We propose a spatiotemporal access method to store all sensor values (instead of preserving only one value for each cell as in the common occupancy grid case). By searching for similar time series, we can detect moving objects that appear only in a limited number of possible configurations (e.g. doors or chairs). Simulated experiments demonstrate the potentialities of the proposed system. ©2007 IEEE.	en
heal.journalName	2007 Mediterranean Conference on Control and Automation, MED	en
dc.identifier.doi	10.1109/MED.2007.4433892	en