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Augmenting slam with object detection in a service robot framework
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
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-2965-2953
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
2006 (English)In: Proceedings, IEEE International Workshop on Robot and Human Interactive Communication, 2006, 741-746 p.Conference paper, Published paper (Refereed)
Abstract [en]

In a service robot scenario, we are interested in a task of building maps of the environment that include automatically recognized objects. Most systems for simultaneous localization and mapping (SLAM) 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. Here, we augment the process with an object recognition system that detects objects in the environment and puts them in the map generated by the SLAM system. During task execution, the robot can use this information to reason about objects, places and their relationships. The metric map is also split into topological entities corresponding to rooms. In this way, the user can command the robot to retrieve an object from a particular room or get help from a robot when searching for a certain object

Place, publisher, year, edition, pages
2006. 741-746 p.
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-82407DOI: 10.1109/ROMAN.2006.314489Scopus ID: 2-s2.0-39549102543OAI: oai:DiVA.org:kth-82407DiVA: diva2:498208
Conference
International Symposium on Robot and Human Interactive Communication, Hatfield; 6 September 2006 through 8 September 2006
Note
QC 20120219Available from: 2012-02-11 Created: 2012-02-11 Last updated: 2012-02-19Bibliographically approved

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Jensfelt, PatricKragic, Danica

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Jensfelt, PatricEkvall, StaffanKragic, DanicaAarno, Daniel
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CiteExportLink to record
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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