Practice makes perfect? Managing and leveraging visual experiences for lifelong navigation

@article{Churchill2012PracticeMP,
  title={Practice makes perfect? Managing and leveraging visual experiences for lifelong navigation},
  author={Winston Churchill and Paul Newman},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={4525-4532}
}
This paper is about long-term navigation in environments whose appearance changes over time - suddenly or gradually. We describe, implement and validate an approach which allows us to incrementally learn a model whose complexity varies naturally in accordance with variation of scene appearance. It allows us to leverage the state of the art in pose estimation to build over many runs, a world model of sufficient richness to allow simple localisation despite a large variation in conditions. As our… CONTINUE READING
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