Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 56, Issue 6, Pages 493-502Publisher
ELSEVIER
DOI: 10.1016/j.robot.2008.03.007
Keywords
spatial representation; conceptual map; mapping; service robots; mobile robots
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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 different findings in spatial cognition, 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. (C) 2008 Elsevier B.V. All rights reserved.
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