Integrating semantic information in navigational planning
Autor(en): | Deeken, H. Pütz, S. Wiemann, T. Lingemann, K. Hertzberg, J. |
Stichwörter: | Geographic information systems; Geometry; Mapping; Query languages; Relational database systems; Robotics; Robots, Complex task; Environment maps; Geometric data; Robot navigation; Semantic information; Semantic labels; Semantic mapping; Spatial queries, Semantics | Erscheinungsdatum: | 2014 | Herausgeber: | VDE-Verlag | Journal: | Proceedings for the Joint Conference of ISR 2014 - 45th International Symposium on Robotics and Robotik 2014 - 8th German Conference on Robotics, ISR/ROBOTIK 2014 | Startseite: | 574 | Seitenende: | 581 | Zusammenfassung: | Executing high-level tasks in a fetch-delivery-scenario (e.g.,"Robot, bring me a muffin!") requires a robot to reason about what the desired object is and where it is located. At best, the underlying map to plan and execute such tasks allows for a close linkage of geometric and semantic information and efficient look ups. Geographic Information Systems combine relational and geometric data in one database and can serve as powerful backends for semantic mapping, because of their in-built ability to handle spatial queries. In this paper, we present a GIS-based approach to semantic mapping that allows semantic labels to be integrated closely with geometric environment maps. We show that our semantic map is suited to store and maintain information that supports complex task planning, as well as other tasks. As an example, we show how robot navigation can be improved by including semantic information. © VDE VERLAG GMBH Berlin Offenbach. |
Beschreibung: | Conference of Joint Conference of ISR 2014 - 45th International Symposium on Robotics and Robotik 2014 - 8th German Conference on Robotics, ISR/ROBOTIK 2014 ; Conference Date: 2 June 2014 Through 3 June 2014; Conference Code:114598 |
ISBN: | 9783800736010 | Externe URL: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-84908441285&partnerID=40&md5=dc6232db4c6da4108229e2846dd177b5 |
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