Technical University of Munich

@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.},
}