LT-Exosense: A Vision-centric Multi-session Mapping System for Lifelong Safe Navigation of Exoskeletons
This work addresses the need for reliable perception systems for individuals with lower-limb disabilities using exoskeletons, though it appears incremental as it extends single-session mapping capabilities.
The paper tackles the problem of enabling long-term safe navigation for exoskeletons in changing environments by introducing LT-Exosense, a vision-centric multi-session mapping system that incrementally fuses spatial knowledge and achieves an average point-to-point error below 5 cm compared to ground-truth laser scans.
Self-balancing exoskeletons offer a promising mobility solution for individuals with lower-limb disabilities. For reliable long-term operation, these exoskeletons require a perception system that is effective in changing environments. In this work, we introduce LT-Exosense, a vision-centric, multi-session mapping system designed to support long-term (semi)-autonomous navigation for exoskeleton users. LT-Exosense extends single-session mapping capabilities by incrementally fusing spatial knowledge across multiple sessions, detecting environmental changes, and updating a persistent global map. This representation enables intelligent path planning, which can adapt to newly observed obstacles and can recover previous routes when obstructions are removed. We validate LT-Exosense through several real-world experiments, demonstrating a scalable multi-session map that achieves an average point-to-point error below 5 cm when compared to ground-truth laser scans. We also illustrate the potential application of adaptive path planning in dynamically changing indoor environments.