oru.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Independent Markov Chain Occupancy Grid Maps for Representation of Dynamic Environments
Department of Automation and Systems Technology, Aalto University, Alto, Finland. (AASS MRO Lab)
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0002-2953-1564
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0003-0217-9326
2012 (English)In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, New York, USA: IEEE, 2012, p. 3489-3495Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we propose a new grid based approach to model a dynamic environment. Each grid cell is assumed to be an independent Markov chain (iMac) with two states. The state transition parameters are learned online and modeled as two Poisson processes. As a result, our representation not only encodes the expected occupancy of the cell, but also models the expected dynamics within the cell. The paper also presents a strategy based on recency weighting to learn the model parameters from observations that is able to deal with non-stationary cell dynamics. Moreover, an interpretation of the model parameters with discussion about the convergence rates of the cells is presented. The proposed model is experimentally validated using offline data recorded with a Laser Guided Vehicle (LGV) system running in production use.

Place, publisher, year, edition, pages
New York, USA: IEEE, 2012. p. 3489-3495
Series
IEEE International Conference on Intelligent Robots and Systems
Keywords [en]
Markov chain, Poisson process, model of dynamics
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-65747DOI: 10.1109/IROS.2012.6385629ISI: 000317042704009Scopus ID: 2-s2.0-84872312765ISBN: 978-1-4673-1736-8 (electronic)ISBN: 978-1-4673-1737-5 (print)ISBN: 978-1-4673-1735-1 OAI: oai:DiVA.org:oru-65747DiVA, id: diva2:1190203
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), Vilamoura, Portugal, 7-12 October, 2012
Available from: 2018-03-14 Created: 2018-03-14 Last updated: 2018-04-17Bibliographically approved

Open Access in DiVA

Independent Markov Chain Occupancy Grid Maps for Representation of Dynamic Environments(3216 kB)32 downloads
File information
File name FULLTEXT02.pdfFile size 3216 kBChecksum SHA-512
d96709f8b9b0e820908f5825bc6327fd8fa5849bbf26e45bece56aa8dbb4fa89a3d0e66d7bff72c62b4497480b68ac71de3e13ef58d9fba7cc38ea8a87320b68
Type fulltextMimetype application/pdf

Other links

Publisher's full textScopus

Authority records BETA

Andreasson, HenrikLilienthal, Achim

Search in DiVA

By author/editor
Andreasson, HenrikLilienthal, Achim
By organisation
School of Science and Technology
Robotics

Search outside of DiVA

GoogleGoogle Scholar
Total: 32 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 86 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf