期刊
APPLIED SCIENCES-BASEL
卷 12, 期 20, 页码 -出版社
MDPI
DOI: 10.3390/app122010316
关键词
semantic scene understanding; cooperating robots; data fusion; cognitive human-robot interaction
This paper provides an overview of semantic mapping for a single mobile robot in indoor environments and focuses on collaborative mobile semantic mapping. By integrating semantic knowledge with geometric representation, robots can perform basic tasks and make decisions based on the context of the environment.
Ensuring safety in human-robot collaboration is one of the main challenges in mobile robotics today. Semantic maps are a potential solution because they provide semantic knowledge in addition to the geometric representation of the environment. They allow robots to perform their basic tasks using geometric representation, mainly localization, path planning and navigation, and additionally allow them to maintain a cognitive interpretation of the environment in order to reason and make decisions based on the context. The goal of this paper is to briefly review semantic mapping for a single mobile robot in indoor environments, and then focus on collaborative mobile semantic mapping. In both contexts, the semantic mapping process is divided into modules/tasks, and recent solutions for each module are discussed. Possible system architectures are also discussed for collaborative semantic mapping. Finally, future directions are highlighted.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据