Towards a Cognitive Probabilistic Representation of Space for Mobile Robots
Robots are rapidly evolving from factory work-horses to robot-companions. The future of robots, as our companions, is highly dependent on their abilities to understand, interpret and represent the environment in an efficient and consistent fashion, in a way that is comprehensible to humans.This paper is oriented in this direction. It suggests a hierarchical probabilistic representation of space that is based on objects. A global topological representation of places with object graphs serving as local maps is suggested. Experiments on place classification and place recognition are also reported in order to demonstrate the applicability of such a representation in the context of understanding space and thereby performing spatial cognition. Thus the theme of the work is-representation for spatial cognition.
Cognitive Spatial Representation Robot Mapping Conceptualization of spaces Spatial Cognition
Shrihari Vasudevan Viet Nguyen Roland Siegwart
Autonomous Systems Laboratory (ASL) Swiss Federal Institute of Technology Zurich (ETHZ) 8092 Zurich, Switzerland
国际会议
2006 IEEE International Conference on Information Acquisition
山东威海
英文
353-359
2006-08-20（万方平台首次上网日期，不代表论文的发表时间）