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What can we learn from 38,000 rooms?: Reasoning about unexplored space in indoor environments
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. 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. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.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), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-7796-1438
2012 (English)In: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, IEEE , 2012, 4675-4682 p.Conference paper, Published paper (Refereed)
Abstract [en]

Many robotics tasks require the robot to predict what lies in the unexplored part of the environment. Although much work focuses on building autonomous robots that operate indoors, indoor environments are neither well understood nor analyzed enough in the literature. In this paper, we propose and compare two methods for predicting both the topology and the categories of rooms given a partial map. The methods are motivated by the analysis of two large annotated floor plan data sets corresponding to the buildings of the MIT and KTH campuses. In particular, utilizing graph theory, we discover that local complexity remains unchanged for growing global complexity in real-world indoor environments, a property which we exploit. In total, we analyze 197 buildings, 940 floors and over 38,000 real-world rooms. Such a large set of indoor places has not been investigated before in the previous work. We provide extensive experimental results and show the degree of transferability of spatial knowledge between two geographically distinct locations. We also contribute the KTH data set and the software tools to with it.

Place, publisher, year, edition, pages
IEEE , 2012. 4675-4682 p.
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keyword [en]
Graph theory, Intelligent systems, Robotics
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-111534DOI: 10.1109/IROS.2012.6386110ISI: 000317042705041Scopus ID: 2-s2.0-84872328191ISBN: 978-1-4673-1737-5 (print)OAI: oai:DiVA.org:kth-111534DiVA: diva2:586981
Conference
25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012; Vilamoura, Algarve;7 October 2012 through 12 October 2012
Note

QC 20130129

Available from: 2013-01-13 Created: 2013-01-13 Last updated: 2016-03-07Bibliographically approved

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fulltext(1792 kB)50 downloads
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Jensfelt, PatricFolkesson, John

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