Conceptual spatial representations for indoor mobile robots

We present an approach for creating conceptual representations of human-made indoor environments using mobile robots. The concepts refer to spatial and functional properties of typical indoor environments. Following findings tive psychology, our model is composed of layers representing maps at different levels of abstraction. The complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition. The system also incorporates a linguistic framework that actively supports the map acquisition process, and which is used for situated dialogue. Finally, we discuss the capabilities of the integrated system. Key words: Spatial Representation, Conceptual Map, Mapping, Service Robots, Mobile Robots

• Type: Journal
• Year: 2008
• Where: RAS
• Authors: Hendrik Zender, Óscar Martínez Mozos, Patric Jensfelt, Geert-Jan M. Kruijff, Wolfram Burgard
• Keywords: Human-made Indoor Environments, Indoor Environments, Mobile Robots, RAS 2008