Title:
Topological Modelling for Human Augmented Mapping
Topological Modelling for Human Augmented Mapping
Files
Author(s)
Topp, Elin A.
Christensen, Henrik I.
Christensen, Henrik I.
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
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.
Sponsor
Date Issued
2006-10
Extent
Resource Type
Text
Resource Subtype
Article