FreMEn: Frequency Map Enhancement for Long-Term Autonomy of Mobile Robots

Speaker: Tom Krajnik , University of Lincoln, UK

Date: Thursday, April 21, 2016

Time: 11:00 AM to 12:00 PM Note: all times are in the Eastern Time Zone

Public: Yes

Location: Seminar Room G449 (Patil/Kiva)

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Host: John Leonard

Contact: Niranjala Manokharan, 617-253-5977,

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Reminder Subject: TALK: NOTE NEW TIME - FreMEn: Frequency Map Enhancement for Long-Term Autonomy of Mobile Robots


While robotic mapping of static environments has been widely studied,
life-long mapping in non-stationary environments is still an open
problem. We present an approach for long-term representation of natural
environments, where many of the observed changes are caused by
pseudo-periodic factors, such as seasonal variations, or humans
performing their daily chores.

Rather than using a fixed probability value, our method models the
uncertainty of the elementary environment states by their frequency
spectra. This allows to integrate sparse and irregular observations
obtained during long-term deployments of mobile robots into
memory-efficient models that reflect the recurring patterns of activity
in the environment. The frequency-enhanced spatio-temporal models allow
to predict the future environment states, which improves the efficiency
of mobile robot operation in changing environments. In a series of
experiments performed over periods of weeks to years, we demonstrate
that the proposed approach improves mobile robot localization, path and
task planning, activity recognition and allows for life-long
spatio-temporal exploration.


Tom Krajnik is a research fellow at the Lincoln Center of Autonomous Systems, UK. He has received the Ph.D. degree in Artificial Intelligence and Biocybernetics from the Czech Technical University, Prague, Czech Republic, in 2012. His research interests include long-term autonomy, robot vision and aerial robotics.

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Created by Niranjala Manokharan Email at Tuesday, April 12, 2016 at 8:44 AM.