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We discuss the process of building semantic maps, how to interactively label entities in them, and how to use them to enable context-aware navigation behaviors in human environments. We utilize planar surfaces, such as walls and tables, and static objects, such as door signs, as features for our semantic mapping approach. Users can interactively annotate these features by having the robot follow him/her, entering the label through a mobile app, and performing a pointing gesture toward thedoi:10.1515/pjbr-2018-0020 fatcat:nacycjg3cjg3xb6powdqhfawui