Hybrid semantic mapping using door information

Joong Tae Park, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

We describe hybrid semantic mapping method with classified area information for home environments. The hybrid map contains two map types: a grid map, and a classified area information-in-grid (CAIG) map. The grid and CAIG maps can be used for intelligent navigation (e.g., localization and path planning) and motion selection, respectively. In home environments, a door can be used to divide an area into various sections such as a room or a kitchen. Therefore, we use a grid map of the home environment and door information as main clues to classify the area and to build the hybrid map. The proposed method is verified by various experiments. We show that the robot can build a hybrid semantic map autonomously in home environments.

Original languageEnglish
Title of host publicationURAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
Pages128-130
Number of pages3
DOIs
Publication statusPublished - 2011
Event2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011 - Incheon, Korea, Republic of
Duration: 2011 Nov 232011 Nov 26

Publication series

NameURAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence

Other

Other2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011
CountryKorea, Republic of
CityIncheon
Period11/11/2311/11/26

Keywords

  • Area classification
  • grid map
  • hybrid map
  • mobile robot
  • semantic map

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications

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