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Semantic Mapping for Mobile Robots in Indoor Scenes: A Survey

Xiaoning Han, Shuailong Li, Xiaohui Wang, Weijia Zhou
2021 Information  
Sensing and mapping its surroundings is an essential requirement for a mobile robot. Geometric maps endow robots with the capacity of basic tasks, e.g., navigation.  ...  This survey reviews methods about semantic mapping in indoor scenes. To begin with, we answered the question, what is a semantic map for mobile robots, by its definitions.  ...  Semantic information in maps for mobile robots provides a human-understandable description of the environment.  ... 
doi:10.3390/info12020092 fatcat:n37meye6dzga3padaaal43gjbu

Morphological Applications for Maps Construction in Path Planning Tasks [chapter]

J. Azorín, G. De Miguel, F. A. Pujol, J. M. García, M. Pujol, R. Rizo
2003 Lecture Notes in Computer Science  
The main objective of this work is to describe a robust model for robotic path planning in unknown environments.  ...  The path planning process for a mobile robot is a subset of the problems that have to be solved in an automatic system of decisions, where the appropriateness of the method is roughly constrained not only  ...  Conclusions In general terms, the path planning process for a mobile robot is strongly influenced by the precision of the acquisition process.  ... 
doi:10.1007/978-3-540-24586-5_80 fatcat:qm3urlq7izhfvkbg54bwxpapma

Environment detection system for localization and mapping purposes

P. Neduchal, L. Bureš, M. Železný
2019 IFAC-PapersOnLine  
The system is supposed to collect data from sensors attached to the mobile robot and then enhance the map of the environment by this information.  ...  Another contribution of this paper are records of our testing runs with a 6WD mobile robot equipped by multiple sensors, which can be used as a dataset for SLAM and Environment Detection System implementations  ...  The system is supposed to collect additional data about the environment during the movement of the mobile robot. This additional data can be utilized for multiple tasks in mobile robotics.  ... 
doi:10.1016/j.ifacol.2019.12.681 fatcat:cmp4lrkakfg2jdp5gw2jjtbbfu

Semantic Information for Robot Navigation: A Survey

Crespo, Castillo, Mozos, Barber
2020 Applied Sciences  
As understanding the environment is essential to achieve high-level navigation,this paper reviews techniques for acquisition of semantic information, paying attention to the twomain groups: human-assisted  ...  The techniques involved have to deal with arange of tasks from modelling the environment and building a semantic map, to including methodsto learn new concepts and the representation of the knowledge acquired  ...  Acquisition of Semantic Information in Robot Navigation One of the tasks to solve in the navigation of mobile robots is the acquisition of information from the environment.  ... 
doi:10.3390/app10020497 fatcat:i244eumavvhqfgcxfkxeg5uhxa

Environment Modelling with an Autonomous Mobile Robot for Cultural Heritage Preservation and Remote Access [chapter]

Grazia Cicirelli, Annalisa Milell
2008 Robotics Automation and Control  
Generally, in order for a mobile robot to perform its tasks, the knowledge of a map of the environment is needed.  ...  Hence, a number of methods for efficient environment modeling, based on information from onboard robot sensors, have been also developed.  ...  images of the lateral walls. 2D Map of a polygonal environment The construction of a map of the environment is a basic step both for robot navigation and accurate knowledge of the environment.  ... 
doi:10.5772/5832 fatcat:rlqr6qau3vatvjohz4wwbcfupq

COLD: The CoSy Localization Database

A. Pronobis, B. Caputo
2009 The international journal of robotics research  
Two key competencies for mobile robotic systems are localization and semantic context interpretation.  ...  In this paper we present a freely available database which provides a large-scale, flexible testing environment for vision-based topological localization and semantic knowledge extraction in robotic systems  ...  Christensen and other colleagues that made the acquisition of the COLD database possible: Óscar Martínez Mozos and Wolfram Burgard in Freiburg, Matej Arta2 c, Aleš Štimec and Aleš Leonardis in Ljubljana  ... 
doi:10.1177/0278364909103912 fatcat:h5jbnobdnnarrpqj73jkiv7ote

Autonomous Navigation Applying Dynamic-Fuzzy Cognitive Maps and Fuzzy Logic [chapter]

Márcio Mendon, Ivan Rossato Chrun, Lúcia Valéria Ramos de Arruda, Elpiniki I. Papageorgiou
2013 IFIP Advances in Information and Communication Technology  
The proposed model allows representing the dynamic behavior of the mobile robot in presence of environment changes.  ...  A new variant of FCM, named Dynamic-Fuzzy Cognitive Maps (D-FCM) , is used to model decision tasks and/or make inference in the robot or mobile navigation.  ...  This simulation environment has served initially to knowledge acquisition through observation data input and output, and observation of robot behavior in several situations.  ... 
doi:10.1007/978-3-642-41142-7_22 fatcat:t3pko364zvct7m5qtpaaydudqe

Socially Embedded Learning of the Office-Conversant Mobil Robot Jijo-2

Hideki Asoh, Satoru Hayamizu, Isao Hara, Yoichi Motomura, Shotaro Akaho, Toshihiro Matsui
1997 International Joint Conference on Artificial Intelligence  
In this research we have been building an office-conversant mobile robot which autonomously moves around in an office environment, actively gathers information through close interaction with this environment  ...  An overview of the system is given and two examples of implemented ideas, i.e. dialog-based map acquisition and route acquisition by following, are described in detail.  ...  Although our chief aim is for a variety of knowledge about the office environment, we chose this as the first target and implemented two mechanisms for map learning using intensive human assistances.  ... 
dblp:conf/ijcai/AsohHHMAM97 fatcat:47i7dpl6njbkjipprwjkm5mlna

Living with robots: Interactive environmental knowledge acquisition

Guglielmo Gemignani, Roberto Capobianco, Emanuele Bastianelli, Domenico Daniele Bloisi, Luca Iocchi, Daniele Nardi
2016 Robotics and Autonomous Systems  
Instead of requiring our robots to autonomously learn every possible aspect of the environment, we propose a shift in perspective, allowing non-expert users to shape robot knowledge through human-robot  ...  Robots, in order to properly interact with people and effectively perform the requested tasks, should have a deep and specific knowledge of the environment they live in.  ...  By contrast, while aiming at deploying our mobile bases in real humanpopulated environments, we devised a multimodal interface to enable non-expert users to support the robot in the map acquisition process  ... 
doi:10.1016/j.robot.2015.11.001 fatcat:fpz5akt7c5ehhn4xj4ewdgnrky

Meet HanS, the Heath & Safety Autonomous Inspector

Emanuele Bastianelli, Gianluca Bardaro, Ilaria Tiddi, Enrico Motta
2018 International Semantic Web Conference  
Monitoring of the status of infrastructures and environments still presents a number of challenges in terms of knowledge acquisition and representation, as data need to constantly be re-evaluated due to  ...  We present here one of the demonstrators we implemented as part of our research on the integration of robots in smart cities, where an autonomous mobile platform is employed for monitoring and assessing  ...  The Knowledge Base (KB) module contains all data necessary for the system to reason over H&S rule violations -namely, information about the physical environment, called Semantic Map [?]  ... 
dblp:conf/semweb/BastianelliBTM18 fatcat:4lddfff3mvehde4fpxz53hdkbi

Performance Investigation and Repeatability Assessment of a Mobile Robotic System for 3D Mapping

Eleonora Maset, Lorenzo Scalera, Alberto Beinat, Domenico Visintini, Alessandro Gasparetto
2022 Robotics  
Acknowledgments: We thank Paolo Gallina, Stefano Seriani and Matteo Caruso for their help in setting up the mobile robot. Conflicts of Interest: The authors declare no conflict of interest.  ...  In this paper, we present the performance and repeatability assessment of a mobile robotic system for 3D mapping.  ...  Mobile robots are also employed for the mapping of archaeological and cultural heritage sites, as shown in [26, 27] .  ... 
doi:10.3390/robotics11030054 dblp:journals/robotics/MasetSBVG22 fatcat:pnjaqbkd2jflphj7bolzb6asv4

Control Interfaces for a Collaborative System Using LabView Package [chapter]

Alina Ninett Panfir, Alexandra Covaci, Cristian-Cezar Postelnicu, Gheorghe Mogan
2012 IFIP Advances in Information and Communication Technology  
In-robotics functions, performed by the software, include data acquisition, motor control, sensor signals processing, perception of objects and navigation through environment.  ...  This document introduces the implementation of a communicative mobile robotic system that is based on two collaborative Pioneer robots controlled by user friendly interfaces developed in LabView.  ...  Tests were conducted also for the environment where mobile robots were moving along both fixed and moving obstacles.  ... 
doi:10.1007/978-3-642-28255-3_4 fatcat:ck4xjf7jabbrdnwwgn2kh2ms2m

A fuzzy logic approach to Passive RFID for mobile robot applications

Annalisa Milella, Donato Di Paola, Grazia Cicirelli, Arcangelo Distante
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
One allows us to accurately localize passive tags in the environment and to generate what we call an RFID-augmented map; the other is suited for estimating the bearing of a tag relative to the robot.  ...  The general use of both methods is in object localization, map building, environment monitoring, and robot pose estimation.  ...  For instance, in [9] Hähnel et al. suggest a particle filtering method for localizing passive tags in a previously built map of the environment, using a mobile robot equipped with an RFID device and  ... 
doi:10.1109/iros.2009.5354515 dblp:conf/iros/MilellaPCD09 fatcat:yco6ngg5urhqrcortzdpnlsbmy

Artificial Spatial Cognition for Robotics and Mobile Systems: Brief Survey and Current Open Challenges

Paloma de la Puente, M. Guadalupe Sánchez-Escribano
2016 EUCognition  
Remarkable and impressive advancements in the areas of perception, mapping and navigation of artificial mobile systems have been witnessed in the last decades.  ...  For enhanced robustness and flexibility in different kinds of real world scenarios, a deeper understanding of the environment, the system, and their interactions -in general termsis desired.  ...  ACKNOWLEDGMENT The authors want to thank the EUCog community for fostering interdisciplinary research in Artificial Cognitive Systems and organizing inspiring meetings and events.  ... 
dblp:conf/eucognition/PuenteS16 fatcat:z4og3qemprcnxlagesv644vtea

Autonomous Mobile Scanning Systems for the Digitization of Buildings: A Review

Antonio Adán, Blanca Quintana, Samuel Prieto
2019 Remote Sensing  
Mobile scanning systems are being used more and more frequently in industry, construction, and artificial intelligent applications.  ...  A set of representative autonomous systems is then chosen for comparison, and the aforementioned characteristics are shown together in several illustrative tables.  ...  A table top scene, two adjacent rooms and corridor with rooms 3D data acquisition and viewpoint selection for occluded environments Highest expected knowledge gain using probabilistic methods,  ... 
doi:10.3390/rs11030306 fatcat:yucrt6aaincnvj6nxxfloenxk4
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