by D Schröter and M Beetz
Abstract:
We present a new approach to mapping of indoor environments, where the environment structure in terms of regions and gateways is automatically extracted, while the robot explores. Objects, both in 2D and 3D, are modelled explicitly in those maps and allow for robust localization. We refer to those maps as object-oriented environment representations or Region & Gateway Maps. Region & Gateway Mapping is capable of acquiring very compact, structured, and semantically annotated maps. We show that those maps can be built online and that they are extremely useful in plan-based control of autonomous robots as well as for robot-human interaction.
Reference:
RG Mapping: Building Object-Oriented Representations of Structured Human Environments (D Schröter and M Beetz), In 6-th Open Russian-German Workshop on Pattern Recognition and Image Understanding (OGRW), Katun/Russia, 2004. (\textbackslashbf Best Paper Award)
Bibtex Entry:
@inproceedings{schroter_rg_2004,
author = {D Schröter and M Beetz},
title = {{RG} Mapping: Building Object-Oriented Representations of Structured
Human Environments},
booktitle = {6-th Open Russian-German Workshop on Pattern Recognition and Image
Understanding ({OGRW)}, {Katun/Russia}},
year = {2004},
abstract = {We present a new approach to mapping of indoor environments, where
the environment structure in terms of regions and gateways is automatically
extracted, while the robot explores. Objects, both in {2D} and {3D},
are modelled explicitly in those maps and allow for robust localization.
We refer to those maps as object-oriented environment representations
or Region \& Gateway Maps. Region \& Gateway Mapping is capable of
acquiring very compact, structured, and semantically annotated maps.
We show that those maps can be built online and that they are extremely
useful in plan-based control of autonomous robots as well as for
robot-human interaction.},
}