{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,25]],"date-time":"2025-02-25T05:28:33Z","timestamp":1740461313628,"version":"3.37.3"},"reference-count":0,"publisher":"IOS Press","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2009]]},"abstract":"<jats:p>This paper reviews new challenges in the area of long-term navigation, and new approaches to environment representation and robots capable of coping with dynamic environments. As a result of this review, we propose an appearancebased simultaneous localization and mapping (SLAM) solution which represents the robot environment using an appearance-based topological map. Dynamic environment changes are dealt with using human memory and fixed action pattern concepts. The former is used to build a histogram to register local feature stability, the latter for robot navigation purposes. We take omnidirectional vision and laser range data to extract textured 2D scans as global features, and textured-vertical edges as local features for map updating and robot localization. From the navigational point of view, we consider visual potential field-based behavior to adjust high level motion commands.<\/jats:p>","DOI":"10.3233\/978-1-60750-061-2-55","type":"book-chapter","created":{"date-parts":[[2025,2,24]],"date-time":"2025-02-24T11:59:50Z","timestamp":1740398390000},"source":"Crossref","is-referenced-by-count":0,"title":["Appearance-Based SLAM for Mobile Robots"],"prefix":"10.3233","author":[{"family":"Bacca Bladimir","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Salvi Joaqu&iacute;m","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Cuf&iacute; Xavier","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"7437","container-title":["Frontiers in Artificial Intelligence and Applications","Artificial Intelligence Research and Development"],"original-title":[],"deposited":{"date-parts":[[2025,2,24]],"date-time":"2025-02-24T12:24:22Z","timestamp":1740399862000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.medra.org\/servlet\/aliasResolver?alias=iospressISSNISBN&issn=0922-6389&volume=202&spage=55"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009]]},"references-count":0,"URL":"https:\/\/doi.org\/10.3233\/978-1-60750-061-2-55","relation":{},"ISSN":["0922-6389"],"issn-type":[{"value":"0922-6389","type":"print"}],"subject":[],"published":{"date-parts":[[2009]]}}}