Cognitive maps for mobile robots -: An object based approach

被引：160

作者：

Vasudevan, Shrihari ^{[1
]}

Gachter, Stefan ^{[1
]}

Nguyen, Viet ^{[1
]}

Siegwart, Roland ^{[1
]}

机构：

[1] ETH, Swiss Fed Inst Technol, Autonomous Syst Lab, CH-8092 Zurich, Switzerland

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2007年 / 55卷 / 05期

关键词：

robot mapping; cognitive spatial representation; conceptualization of space; spatial cognition;

D O I：

10.1016/j.robot.2006.12.008

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Robots are rapidly evolving from factory work-horses to robot-companions. The future of robots, as our companions, is highly dependent on their abilities to understand, interpret and represent the environment in an efficient and consistent fashion, in a way that is comprehensible to humans. The work presented here is oriented in this direction. It suggests a hierarchical probabilistic representation of space that is based on objects. A global topological representation of places with object graphs serving as local maps is proposed. The work also details the first efforts towards conceptualizing space on the basis of the human compatible representation so formed. Such a representation and the resulting conceptualization would be useful for enabling robots to be cognizant of their surroundings. Experiments on place classification and place recognition are reported in order to demonstrate the applicability of such a representation towards understanding space and thereby performing spatial cognition. Further, relevant results from user studies validating the proposed representation are also reported. Thus, the theme of the work is - representation for spatial cognition. (c) 2007 Elsevier B.V. All rights reserved.

引用

页码：359 / 371

页数：13

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