Towards a Cognitive Probabilistic Representation of Space for Mobile Robots

Shrihari Vasudevan, Viet Nguyen, Roland Siegwart
2006 2006 IEEE International Conference on Information Acquisition  
Robots are rapidly evolving from factory workhorses to robot-companions. The future of robots, as our companions, is highly dependent on their abilities to understand, interpret and represent the environment in an efficient and consistent fashion, in a way that is comprehensible to humans. This paper is oriented in this direction. It suggests a hierarchical probabilistic representation of space that is based on objects. A global topological representation of places with object graphs serving as
more » ... local maps is suggested. Experiments on place classification and place recognition are also reported in order to demonstrate the applicability of such a representation in the context of understanding space and thereby performing spatial cognition. Thus the theme of the work is -representation for spatial cognition.
doi:10.1109/icia.2006.306025 fatcat:zwnccppziredbkjyqxvmzxpp24