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Topological modelling for human augmented mapping
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
2006 (English)In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12, NEW YORK: IEEE , 2006, 2257-2263 p.Conference paper, Published paper (Refereed)
Abstract [en]

Service robots designed for domestic settings need to navigate in an environment that they have to share with their users. Thus, they have to be able to report their current state and whereabouts in a way that is comprehensible for the user. Pure metric maps do not usually correspond to the understanding of the environment a user would provide. Thus, the robotic map needs to be integrated with the human representation. This paper describes our framework of Human Augmented Mapping that allows us to achieve this integration. We propose further a method to specify and represent regions that relate to a user's view on the environment. We assume an interactive setup for the specification of regions and show the applicability of our method in terms of distinctiveness for space segmentation and in terms of localisation purposes.

Place, publisher, year, edition, pages
NEW YORK: IEEE , 2006. 2257-2263 p.
Series
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-42056DOI: 10.1109/IROS.2006.282570ISI: 000245452402063Scopus ID: 2-s2.0-34250667416ISBN: 978-1-4244-0258-8 (print)OAI: oai:DiVA.org:kth-42056DiVA: diva2:446488
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, PEOPLES R CHINA. OCT 09-13, 2006
Note
QC 20111007Available from: 2011-10-07 Created: 2011-10-05 Last updated: 2011-10-07Bibliographically approved

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Topp, Elin A.Christensen, Henrik I.
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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf