Topological Modelling for Human Augmented Mapping

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Title: Topological Modelling for Human Augmented Mapping
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. This paper describes our framework of Human Augmented Mapping that allows us to achieve this integration.We propose further a method to specify and represent regions that relate to a user’s view on the environment. We assume an interactive setup for the specification of regions and show the applicability of our method in terms of distinctiveness for space segmentation and in terms of localisation purposes.
Description: (c) 2006 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. Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems; October 9 - 15, 2006; Beijing, China. Digital Object Identifier : 10.1109/IROS.2006.282570
Type: Article
ISBN: 1-4244-0258-1
Citation: Topp, E. A., and Christensen, H. I. Topological modelling of human augmented mapping. In Proc. IEEE/RSJ Intl Conf on Intell. Robots and Systems (IROS-06) (Beijing, CH, Oct. 2006), RSJ/IEEE RAS.
Date: 2006-10
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
Kungl. Tekniska Högskolan. Centrum för Autonoma System
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Service robots
Human augmented mapping
Robotic mapping

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