Conceptual spatial representations for indoor mobile robots

被引：192
作者：
Zender, H. [1 ]
Mozos, O. Martinez [2 ]
Jensfelt, P. [3 ]
Kruijff, G. J. M. [1 ]
Burgard, W. [2 ]
机构：
[1] German Res Ctr Artificial Intelligence DFKI GmbH, Language Technol Lab, Campus D32,Stuhlsatzenhausweg 3, D-66123 Saarbrucken, Germany
[2] Univ Freiburg, Dept Comp Sci, D-79110 Freiburg, Germany
[3] Royal Inst Technol, Ctr Autonomous Syst, SE-10044 Stockholm, Sweden
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2008年 / 56卷 / 06期
关键词：
spatial representation; conceptual map; mapping; service robots; mobile robots;
D O I：
10.1016/j.robot.2008.03.007
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 different findings in spatial cognition, 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. (C) 2008 Elsevier B.V. All rights reserved.
引用
收藏
页码：493 / 502
页数：10
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