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Autonomous Mapping Using a Flexible Region Map for Novelty Detection

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Intelligent Robotics and Applications (ICIRA 2009)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5928))

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Abstract

This paper presents an autonomous method for a robot to map the normal condition of its environment using a flexible region map. The map is used as a reference to allow a mobile robot to perform novelty detection. The map has a flexible structure which could accommodate to the distribution of different types of entity in the environment. However, updating information in the map for autonomous mapping is not a trivial task since it requires changing the structure of the map. The contribution of this paper is twofold. First, the method for reshaping a flexible region map is discussed. Then, an algorithm that is inspired by the habituation principal for performing autonomous update is presented. Experimental results show that autonomous update was achieved by using the habituation principal and by allowing the flexible region to reshape itself to accommodate to changes in the environment.

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Author information

Authors and Affiliations

  1. Intelligent Robotic Research Center (IRRC), Monash University, Australia

    Muhammad Fahmi Miskon & Andrew R. Russell

Authors
  1. Muhammad Fahmi Miskon
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  2. Andrew R. Russell
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Editor information

Editors and Affiliations

  1. School of Mechanical and Aerospace Engineering, Nanyang Technological University, 639798, Singapore

    Ming Xie

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P. R. China

    Youlun Xiong

  3. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P.R. China

    Caihua Xiong

  4. Institute of Industrial Research, University of Portsmouth, PO1 3QL, Portsmouth, UK

    Honghai Liu

  5. Department of Computer Science and Electrical Engineering, Kumamoto University, 860-8555, Kumamoto, Japan

    Zhencheng Hu

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© 2009 Springer-Verlag Berlin Heidelberg

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Miskon, M.F., Russell, A.R. (2009). Autonomous Mapping Using a Flexible Region Map for Novelty Detection. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_83

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  • DOI: https://doi.org/10.1007/978-3-642-10817-4_83

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-10816-7

  • Online ISBN: 978-3-642-10817-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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