Conceptual spatial representations for indoor mobile robots

  • Authors:

  • H. Zender;O. Martínez Mozos;P. Jensfelt;G. -J. M. Kruijff;W. Burgard

  • Affiliations:

  • German Research Center for Artificial Intelligence (DFKI GmbH), Language Technology Lab, Campus D32, Stuhlsatzenhausweg 3, D-66123 Saarbrücken, Germany;Albert-Ludwigs-Universität Freiburg, Department of Computer Science, Georges-Köhler-Allee, Geb. 079, D-79110 Freiburg, Germany;Royal Institute of Technology (KTH), Centre for Autonomous Systems, SE-100 44 Stockholm, Sweden;German Research Center for Artificial Intelligence (DFKI GmbH), Language Technology Lab, Campus D32, Stuhlsatzenhausweg 3, D-66123 Saarbrücken, Germany;Albert-Ludwigs-Universität Freiburg, Department of Computer Science, Georges-Köhler-Allee, Geb. 079, D-79110 Freiburg, Germany

  • Venue:
  • Robotics and Autonomous Systems
  • Year:
  • 2008

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Abstract

We present an approach for creating conceptual representations of human-made indoor environments using mobile robots. The concepts refer to spatial and functional properties of typical indoor environments. Following different findings in spatial cognition, our model is composed of layers representing maps at different levels of abstraction. The complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition. The system also incorporates a linguistic framework that actively supports the map acquisition process, and which is used for situated dialogue. Finally, we discuss the capabilities of the integrated system.