We present an integrated approach for creating conceptual
representations of human-made environments using mobile robots. The concepts
represent spatial and functional properties of typical indoor environments. Our
model is composed of layers which represent maps at different levels of
abstraction. The complete system was integrated in a service robot which is endowed with laser and vision sensors for place and object recognition. It also incorporates a linguistic framework which actively supports the map acquisition process and is used for situated dialogue. In the experiments we show how the robot acquires the conceptual information and how it is used for situational and functional awareness.
Paper: [pdf: 447k]
Bibtex
@InProceedings{mozos2007iros_workshop,
title = {From Labels to Semantics: An Integrated System for Conceptual Spatial Representations of Indoor Environments for Mobile Robots},
author = {Oscar Martinez Mozos and Patric Jensfelt and Hendrik Zender and Geert-Jan M. Kruijff and Wolfram Burgard},
booktitle = {Proceedings of the IEEE/RSJ IROS 2007 Workshop: Semantic information in robotics},
address = {San Diego, CA, USA},
year = {2007},
url = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2007iros_workshop.pdf},
}
COSY Explorer 2006-11-14 Stockholm Full Run
This video shows a full run of the integrated Explorer system mobile robot as shown in the COSY project meeting in Stockholm, Sweden, in November 2006.