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Towards a Cognitive Probabilistic Representation of Space for Mobile Robots

Shrihari Vasudevan, Viet Nguyen, Roland Siegwart
2006 2006 IEEE International Conference on Information Acquisition  

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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
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Shrihari Vasudevan, Viet Nguyen, Roland Siegwart. "Towards a Cognitive Probabilistic Representation of Space for Mobile Robots." 2006 IEEE International Conference on Information Acquisition (2006)