Holography map for home robot: an object-oriented approach

Authors:
Peiliang Wu;Lingfu Kong;Shengnan Gao
Affiliations:
College of Information Science and Engineering in Yanshan University, Qinhuangdao, People's Republic of China 066004;College of Information Science and Engineering in Yanshan University, Qinhuangdao, People's Republic of China 066004;College of Information Science and Engineering in Yanshan University, Qinhuangdao, People's Republic of China 066004
Venue:
Intelligent Service Robotics
Year:
2012

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Abstract

The environment map plays an important role in robot service, so it should contain not only appearance information about the whole service environment, but also their profoundness. The key contribution of the paper is the presentation of a novel semantic map, namely, a holography map composed of robot, family persons, operable items, local environments, as well as locations and path sections for home service robot cognizing its surroundings and providing services. Inspired by the object-oriented approach, the holography map is divided into three hierarchies of item-room-home and in detail 13 classes of objects. The design and storage of the object-oriented holography map are described comprehensively, and construction of the map is introduced. The execution of robot service based on the object-oriented holography map is discussed briefly. Experiments on real service robot demonstrate that the object-oriented holography map is nearer to human thinking and applicable to indoor robot service tasks.