Interactive Categorization of Living Space based on Simultaneous Localization and Mapping

This paper deals with method of interactive categorization based on simultaneous localization and mapping for user support by a robot partner. We propose a method of getting information about unknown objects in the two-dimensional map. First, we explain a method of updating a robot location by a steady-state genetic algorithm. Second, we explain a map building method based on the topological approach by a growing neural network. Next, we explain a method of noise reduction in the map caused by moving objects. Furthermore, we propose an estimation method of human position and object areas by the communication from a robot partner to the human. Finally, we show several experimental results of the proposed method, and discuss the effectiveness on this research.