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Map Representation for Robots

Chuho Yi
2012 The Smart Computing Review  
Map-building and localization for robots are the most basic technology required to create autonomous mobile robots. Unfortunately, they are difficult problems to comprehensively handle.  ...  robots.  ...  The metric and topological maps are built based on automatically-selected nodes.  ... 
doi:10.6029/smartcr.2012.01.002 fatcat:qqwhg5jjafftnpz3ogcriiguh4

Semantic Mapping for Mobile Robots in Indoor Scenes: A Survey

Xiaoning Han, Shuailong Li, Xiaohui Wang, Weijia Zhou
2021 Information  
A semantic map can help robots to behave in human rules, plan and perform advanced tasks, and communicate with humans on the conceptual level.  ...  To co-exist with human beings in indoor scenes, the need to attach semantic information to a geometric map, which is called a semantic map, has been realized in the last two decades.  ...  There are three main categories of geometric maps, namely metric, topological, or hybrid.  ... 
doi:10.3390/info12020092 fatcat:n37meye6dzga3padaaal43gjbu

Object-Based Reliable Visual Navigation for Mobile Robot

Fan Wang, Chaofan Zhang, Wen Zhang, Cuiyun Fang, Yingwei Xia, Yong Liu, Hao Dong
2022 Sensors  
Most existing practical perception-aware based visual navigation methods generally require prior-constructed precise metric maps, and learning-based methods rely on large training to improve their generality  ...  Firstly, a lightweight object-level topological semantic map is constructed to release the dependence on the precise metric map, where the semantic associations between objects are stored via graph memory  ...  Gibson License: http://svl.stanford.edu/gibson2 /assets/GDS_agreement.pdf (accessed on 10 January 2022).  ... 
doi:10.3390/s22062387 pmid:35336558 pmcid:PMC8949785 fatcat:qszzhukvwbeublsqqexi6trnda

Hybrid Metric-topological Mapping for Large Scale Monocular SLAM [chapter]

Eduardo Fernández-Moral, Vicente Arévalo, Javier González-Jiménez
2014 Lecture Notes in Electrical Engineering  
The result is a metric-topological arrangement where the areas with highly-connected observations are grouped in submaps weakly interconnected to each other.  ...  The experimental results indicate that the proposed approach improves the efficiency of monocular SLAM and provides a metric-topological world representation suitable for other robotic tasks.  ...  ACKNOWLEDGEMENTS This work has been supported by the project "TAROTH: New developments toward a robot at home", funded by the Spanish Government and the "European Regional Development Fund ERDF" under  ... 
doi:10.1007/978-3-319-10891-9_12 fatcat:vczkxoptefb5tcpxkzielyzfae

Fast hybrid relocation in large scale metric-topologic-semantic map

Romain Drouilly, Patrick Rives, Benoit Morisset
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We present a new hybrid metric-topological-semantic map structure, called MTS-map, that allows a fine metric-based navigation and fast coarse query-based localisation.  ...  It consists of local sub-maps connected through two topological layers at metric and semantic levels. Semantic information is used to build concise local graph-based descriptions of sub-maps.  ...  HYBRID METRIC-TOPOLOGICAL-SEMANTIC MAP ARCHITECTURE In this section, we propose a new hybrid metrictopological-semantic map structure called MTS map.  ... 
doi:10.1109/iros.2014.6942804 dblp:conf/iros/DrouillyRM14 fatcat:phep3udr3nebxgpm3hovug4ueq

Where am I? Creating spatial awareness in unmanned ground robots using SLAM: A survey

NITIN KUMAR DHIMAN, DIPTI DEODHARE, DEEPAK KHEMANI
2015 Sadhana (Bangalore)  
The map could be one of different types i.e. metrical, topological, hybrid or semantic.  ...  The algorithms in each class are further divided based on the techniques used.  ...  The classification of algorithms is based on metrical, topological and hybrid map generating approaches and these are presented for static environments.  ... 
doi:10.1007/s12046-015-0402-6 fatcat:33hu7lxwsja2fdjepsdxjczd54

Semantic Information for Robot Navigation: A Survey

Crespo, Castillo, Mozos, Barber
2020 Applied Sciences  
, semantic information has moved robot navigation one step further.This work presents a survey on the concepts, methodologies and techniques that allow includingsemantic information in robot navigation  ...  There is a growing trend in robotics for implementing behavioural mechanisms basedon human psychology, such as the processes associated with thinking.  ...  Classifying the navigation maps into two categories: the metric maps and the topological maps.  ... 
doi:10.3390/app10020497 fatcat:i244eumavvhqfgcxfkxeg5uhxa

3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans [article]

Antoni Rosinol, Arjun Gupta, Marcus Abate, Jingnan Shi, Luca Carlone
2020 arXiv   pre-print
Finally, we discuss the implications of our proposal on modern robotics applications. 3D Dynamic Scene Graphs can have a profound impact on planning and decision-making, human-robot interaction, long-term  ...  We integrate state-of-the-art techniques for object and human detection and pose estimation, and we describe how to robustly infer object, robot, and human nodes in crowded scenes.  ...  ., walls, floor, ceiling) and detect objects in the scene. Blanco et al. [10] propose a hybrid metric-topological map. Friedman et al.  ... 
arXiv:2002.06289v2 fatcat:le5fcq3yy5d3rjjszewjbrhkti

Towards a Cognitive Probabilistic Representation of Space for Mobile Robots

Shrihari Vasudevan, Viet Nguyen, Roland Siegwart
2006 2006 IEEE International Conference on Information Acquisition  
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 suggested.  ...  to humans.  ...  Robot mapping has traditionally been classified into two broad categories -metric and topological. Metric mapping tries to map the environment using geometric features present in it.  ... 
doi:10.1109/icia.2006.306025 fatcat:zwnccppziredbkjyqxvmzxpp24

SeanNet: Semantic Understanding Network for Localization Under Object Dynamics [article]

Xiao Li, Yidong Du, Zhen Zeng, Odest Chadwicke Jenkins
2021 arXiv   pre-print
Under the object-level scene dynamics induced by human daily activities, a robot needs to robustly localize itself in the environment subject to scene uncertainties.  ...  Previous works have addressed visual-based localization in static environments, yet the object-level scene dynamics challenge existing methods on long-term deployment of the robot.  ...  Scene Embedding with SeanNet Model We develop a hybrid network architecture based on ResNet50 [26] and GCN [3] .  ... 
arXiv:2110.02276v1 fatcat:w5ukfyrjezgkjn64klyhevjway

Creating Metric-topological Maps for Large-scale Monocular SLAM
english

Eduardo Fernández-Moral, Javier González Jiménez, Vicente Arévalo
2013 Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics  
The result is a metric-topological arrangement where the areas with highly-connected observations are grouped in submaps weakly interconnected to each other.  ...  The experimental results indicate that the proposed approach improves the efficiency of monocular SLAM and provides a metric-topological world representation suitable for other robotic tasks.  ...  ACKNOWLEDGEMENTS This work has been supported by the project "TAROTH: New developments toward a robot at home", funded by the Spanish Government and the "European Regional Development Fund ERDF" under  ... 
doi:10.5220/0004438900390047 dblp:conf/icinco/Fernandez-MoralJA13 fatcat:p5fhbdki4zhz7ocrwmeajqc65u

Long-term experiments with an adaptive spherical view representation for navigation in changing environments

Feras Dayoub, Grzegorz Cielniak, Tom Duckett
2011 Robotics and Autonomous Systems  
The updating mechanism, based on the multi-store model of human memory, incorporates a spherical metric representation of the observed visual features for each node in the map, which enables the robot  ...  In this work, we introduce a method to update the reference views in a hybrid metrictopological map so that a mobile robot can continue to localize itself in a changing environment.  ...  Figure 1 : Proposed hybrid metric-topological map.  ... 
doi:10.1016/j.robot.2011.02.013 fatcat:7ii3lhadfjg3rljcyip2gx2mxu

Conceptual spatial representations for indoor mobile robots

H. Zender, O. Martínez Mozos, P. Jensfelt, G.-J.M. Kruijff, W. Burgard
2008 Robotics and Autonomous Systems  
We present an approach for creating conceptual representations of human-made indoor environments using mobile robots.  ...  The complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition.  ...  Fig. 7 . 7 Our multi-layered map, ranging from sensor-based maps to a conceptual abstraction. Fig. 8 . 8 The navigation map overlayed on the metric map.  ... 
doi:10.1016/j.robot.2008.03.007 fatcat:mepud53dhndzpkgcftvyhvyhlu

Semantic representation for navigation in large-scale environments

Romain Drouilly, Patrick Rives, Benoit Morisset
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
Our approach relies on an object-based representation of the world automatically built by robots from spherical images.  ...  Mimicking human navigation is a challenging goal for autonomous robots.  ...  Hybrid Metric-Topologic-Semantic Map Our map consists of a set of local submaps connected to each other in a graph whose edges are pairwise pose estimates.  ... 
doi:10.1109/icra.2015.7139314 dblp:conf/icra/DrouillyRM15 fatcat:xffyue3osvdvtorv5vz6nkdhmm

A Movement-Assisted Deployment of Collaborating Autonomous Sensors for Indoor and Outdoor Environment Monitoring

Ewa Niewiadomska-Szynkiewicz, Andrzej Sikora, Michał Marks
2016 Sensors  
This paper addresses the issues of the application of numerical optimization and computer simulation techniques to on-line calculation of a wireless sensor network topology for monitoring and tracking  ...  We focus on the design of a self-organizing and collaborative mobile network that enables a continuous data transmission to the data sink (base station) and automatically adapts its behavior to changes  ...  Topology of the sensing network: (a) initial topology; (b) final topology. Table 1 . 1 Performance metrics for various deployment strategies, known and unknown map of ROI.  ... 
doi:10.3390/s16091497 pmid:27649186 pmcid:PMC5038770 fatcat:udp2bb4cnjgujp4ls4zbn4vmve
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