Author:
Ekvall Staffan,Kragic Danica,Jensfelt Patric
Abstract
SUMMARYThe problem studied in this paper is a mobile robot that autonomously navigates in a domestic environment, builds a map as it moves along and localizes its position in it. In addition, the robot detects predefined objects, estimates their position in the environment and integrates this with the localization module to automatically put the objects in the generated map. Thus, we demonstrate one of the possible strategies for the integration of spatial and semantic knowledge in a service robot scenario where a simultaneous localization and mapping (SLAM) and object detection recognition system work in synergy to provide a richer representation of the environment than it would be possible with either of the methods alone. Most SLAM systems build maps that are only used for localizing the robot. Such maps are typically based on grids or different types of features such as point and lines. The novelty is the augmentation of this process with an object-recognition system that detects objects in the environment and puts them in the map generated by the SLAM system. The metric map is also split into topological entities corresponding to rooms. In this way, the user can command the robot to retrieve a certain object from a certain room. We present the results of map building and an extensive evaluation of the object detection algorithm performed in an indoor setting.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Reference32 articles.
1. 22. Reed M. K. , Allen P. K. and Stamos I. , “View planning for site modeling,” Proceedings of the DARPA Image Understanding Workshop (21–23 November (1998) pp. 1181–1192.
2. 17. Michaud F. , Brosseau Y. , Cote C. , Letourneau D. , Moisan P. , Ponchon A. , Raievsky C. , Valin J.-M. , Beaudryy E. and Kabanza F. , “Modularity and integration in the design of a socially interactive robot,” Proceedings of the IEEE International Workshop on Robot and Human Interactive Communication, RO-MAN (August (2005) pp. 172–177.
3. 25. Pronobis A. , Caputo B. , Jensfelt P. and Christensen H. I. , “A discriminative approach to robust visual place recognition,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'06 (2006).
Cited by
49 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献