This paper addresses the problem of dealing with different kinds of dynamic obstacles influencing a place recognition task. We improve an existing approach using independent Marcov chain grid maps (iMac). Furthermore, we add a fuzzy classification to exploit the iMac estimation to refine the likelihood field estimation. We can show that the proposed method increases the performance of place recognition, while still being a compact, interpretable framework.
CITATION STYLE
Bahrmann, F., Hellbach, S., Keil, S., & Böhme, H. J. (2014). Understanding dynamic environments with fuzzy perception. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 8836, pp. 553–562). Springer Verlag. https://doi.org/10.1007/978-3-319-12643-2_67
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