Semantic mapping with a probabilistic description logic

Authors:
Rodrigo Polastro;Fabiano Corrêa;Fabio Cozman;Jun Okamoto, Jr.
Affiliations:
Escola Politécnica da Universidade de São Paulo;Escola Politécnica da Universidade de São Paulo;Escola Politécnica da Universidade de São Paulo;Escola Politécnica da Universidade de São Paulo
Venue:
SBIA'10 Proceedings of the 20th Brazilian conference on Advances in artificial intelligence
Year:
2010

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Abstract

Semantic mapping employs explicit labels to deal with sensor data in robotic mapping processes. In this paper we present a method for boosting performance of spatial mapping, through the use of a probabilistic ontology, expressed with a probabilistic description logic. Reasoning with this ontology allows segmentation and tagging of sensor data acquired by a robot during navigation; hence a robot can construct metric maps topologically. We report experiments with a real robot to validate our approach, thus moving closer to the goal of integrating mapping and semantic labeling processes.