Conceptual spatial representations for indoor mobile robots

Zender, Henrik and Mozos, Oscar Martinez and Jensfelt, Patric and Kruijff, Geert-Jan M. and Wolfram, Burgard (2008) Conceptual spatial representations for indoor mobile robots. Robotics and Autonomous Systems (RAS), 65 (6). pp. 493-502. ISSN 0921-8890

Full content URL: http://dx.doi.org/10.1016/j.robot.2008.03.007

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Abstract

We present an approach for creating conceptual representations of human-made indoor environments using mobile
robots. The concepts refer to spatial and functional properties of typical indoor environments. Following findings
in cognitive psychology, our model is composed of layers representing maps at different levels of abstraction. The
complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition.
The system also incorporates a linguistic framework that actively supports the map acquisition process, and which
is used for situated dialogue. Finally, we discuss the capabilities of the integrated system.

Keywords:Spatial Representation, Conceptual Map, Mapping, Service Robots, Mobile Robots
Subjects:G Mathematical and Computer Sciences > G700 Artificial Intelligence
G Mathematical and Computer Sciences > G440 Human-computer Interaction
G Mathematical and Computer Sciences > G400 Computer Science
G Mathematical and Computer Sciences > G710 Speech and Natural Language Processing
H Engineering > H671 Robotics
Divisions:College of Science > School of Computer Science
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ID Code:9321
Deposited On:07 May 2013 12:59

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