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Multi-Hierarchical Semantic Maps for Mobile Robotics

C. Galindo, A. Saffiotti, S. Coradeschi, P. Buschka, J.A. Fernández-Madrigal and J. González

Abstract
The success of mobile robots, and particularly of those interfacing with humans in daily environments (e.g., assistant robots), relies on the ability to manipulate information beyond simple spatial relations. We are interested in semantic information, which gives meaning to spatial information like images or geometric maps. We present a multi-hierarchical approach to enable a mobile robot to acquire semantic information from its sensors, and to use it for navigation tasks. In our approach, the link between spatial and semantic information is established via anchoring. We show experiments on a real mobile robot that demonstrate its ability to use and infer new semantic information from its environment, improving its operation.
Citation
C. Galindo, A. Saffiotti, S. Coradeschi, P. Buschka, J.A. Fernández-Madrigal and J. González. Multi-Hierarchical Semantic Maps for Mobile Robotics. Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), pp. 3492-3497. Edmonton, CA, 2005.
BibTeX entry
Contact
Cipriano Galindo
Email Alessandro Saffiotti
Email Silvia Coradeschi
Email Pär Buschka
J.A. Fernández-Madrigal
J. González
Availability (©)
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