DocumentCode
2411587
Title
Online semantic exploration of indoor maps
Author
Ziyuan Liu ; Dong Chen ; von Wichert, Georg
Author_Institution
Inst. of Autom. Control Eng., Tech. Univ. Munchen, München, Germany
fYear
2012
fDate
14-18 May 2012
Firstpage
4361
Lastpage
4366
Abstract
In this paper we propose a method to extract an abstracted floor plan from typical grid maps using Bayesian reasoning. The result of this procedure is a probabilistic generative model of the environment defined over abstract concepts. It is well suited for higher-level reasoning and communication purposes. We demonstrate the effectiveness of the approach through real-world experiments.
Keywords
Bayes methods; inference mechanisms; mobile robots; robot vision; Bayesian reasoning; abstracted floor plan extraction; grid maps; higher-level communication; higher-level reasoning; indoor maps; online semantic exploration; probabilistic generative model; Image color analysis; Kernel; Markov processes; Proposals; Robot kinematics; Semantics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location
Saint Paul, MN
ISSN
1050-4729
Print_ISBN
978-1-4673-1403-9
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ICRA.2012.6224871
Filename
6224871
Link To Document