The spatial semantic hierarchy
Artificial Intelligence
Conditional Random Fields: Probabilistic Models for Segmenting and Labeling Sequence Data
ICML '01 Proceedings of the Eighteenth International Conference on Machine Learning
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
DP-SLAM: fast, robust simultaneous localization and mapping without predetermined landmarks
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Location-based activity recognition using relational Markov networks
IJCAI'05 Proceedings of the 19th international joint conference on Artificial intelligence
Learning hierarchical object maps of non-stationary environments with mobile robots
UAI'02 Proceedings of the Eighteenth conference on Uncertainty in artificial intelligence
Discriminative probabilistic models for relational data
UAI'02 Proceedings of the Eighteenth conference on Uncertainty in artificial intelligence
Ontology based object categorisation for robots
AOW '05 Proceedings of the 2005 Australasian Ontology Workshop - Volume 58
Supervised semantic labeling of places using information extracted from sensor data
Robotics and Autonomous Systems
Online generation of scene descriptions in urban environments
Robotics and Autonomous Systems
Towards semantic maps for mobile robots
Robotics and Autonomous Systems
Ontology Based Object Categorization for Robots
PAKM '08 Proceedings of the 7th International Conference on Practical Aspects of Knowledge Management
An Inductive Logic Programming Approach to Statistical Relational Learning
Proceedings of the 2005 conference on An Inductive Logic Programming Approach to Statistical Relational Learning
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 2
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Instance-based AMN classification for improved object recognition in 2D and 3D laser range data
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
GATMO: a generalized approach to tracking movable objects
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Building virtual worlds by 3d object mapping
Proceedings of the 2010 ACM workshop on Surreal media and virtual cloning
Classification and Semantic Mapping of Urban Environments
International Journal of Robotics Research
Semantic mapping with a probabilistic description logic
SBIA'10 Proceedings of the 20th Brazilian conference on Advances in artificial intelligence
Lifted relational Kalman filtering
IJCAI'11 Proceedings of the Twenty-Second international joint conference on Artificial Intelligence - Volume Volume Three
KnowRob: A knowledge processing infrastructure for cognition-enabled robots
International Journal of Robotics Research
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Mobile robot map building is the task of generating a model of an environment from sensor data. Most existing approaches to mobile robot mapping either build topological representations or generate accurate, metric maps of an environment. In this paper we introduce relational object maps, a novel approach to building metric maps that represent individual objects such as doors or walls. We show how to extend relational Markov networks in order to reason about a hierarchy of objects and the spatial relationships between them. Markov chain Monte Carlo is used for efficient inference and to learn the parameters of the model. We show that the spatial constraints modeled by our mapping technique yield drastic improvements for labeling line segments extracted from laser range-finders.