Detecting structural ambiguities and transistions during a guided tour

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/37395

Title: Detecting structural ambiguities and transistions during a guided tour
Author: Topp, Elin A. ; Christensen, Henrik I.
Abstract: Service robots designed for domestic settings need to navigate in an environment that they have to share with their users. Thus, they have to be able to report their current state and whereabouts in a way that is comprehensible for the user. Pure metric maps do not usually correspond to the understanding of the environment a user would provide. Thus, the robotic map needs to be integrated with the human representation. With our framework for Human Augmented Mapping we aim to deal with this issue and assume a guided tour as basis for an initial mapping process. During such a tour the robotic system needs to be able to detect significant changes in its environment representation – structural ambiguities – to be able to invoke a clarification discourse with the user. In this paper we present our approach to the detection of such ambiguities, that is independent from prior specification and training of particular spatial categories. We evaluate our method on data sets obtained during several runs in indoor environments in the context of a guided tour scenario.
Description: (c) 2008 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Presented at the 2008 IEEE International Conference on Robotics and Automation; Pasadena, CA, USA; May 19-23, 2008. Digital Object Identifier: 10.1109/ROBOT.2008.4543599
Type: Article
URI: http://hdl.handle.net/1853/37395
ISBN: 9781424416479
Citation: Topp, E. A., and Christensen, H. I. Detecting structural ambiguities and transistions during a guided tour. In 2008 IEEE Intl. Conf. on Robotics and Automation (Pasadena, CA, May 2008), pp. 2564-2571.
Date: 2008-05
Contributor: Georgia Institute of Technology. College of Computing
Kungl. Tekniska högskolan. Skolan för datavetenskap och kommunikation
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Service robots
Mobile robot companions
Structural ambiguities

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