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Conceptual spatial representations for indoor mobile robots
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-1170-7162
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2008 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 0921-8830, Vol. 56, no 6, 493-502 p.Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
2008. Vol. 56, no 6, 493-502 p.
Keyword [en]
spatial representation, conceptual map, mapping, service robots, mobile, robots
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-17631DOI: 10.1016/j.robot.2008.03.007ISI: 000256986100003ScopusID: 2-s2.0-44249117792OAI: diva2:335675
QC 20110823. IROS Workshop on From Sensors to Human Spatial Concepts 2007 Location: San Diego, CA Date: NOV, 2007 Available from: 2010-08-05 Created: 2010-08-05 Last updated: 2012-01-10Bibliographically approved

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