TOWARDS HUMAN INSPIRED SEMANTIC SLAM

Dominik Maximilián Ramík, Christophe Sabourin, Kurosh Madani

Abstract

Robotic SLAM is attempting to learn robots what human beings do nearly effortlessly: to navigate in an unknown environment and to map it in the same time. In spite of huge advance in this area, nowadays SLAM solutions are not yet ready to enter the real world. In this paper, we observe the state of the art in existing SLAM techniques and identify semantic SLAM as one of prospective directions in robotic mapping research. We position our initial research into this field and propose a human inspired concept of SLAM based on understanding of the scene via its semantic analysis. First simulation results, using a virtual humanoid robot are presented to illustrate our approach.

References

  1. Durrant-Whyte, H., et al. Simultaneous Localisation and Mapping (SLAM): Part I The Essential Algorithms. Robotics and Automation Magazine. 2006a, Vols. 13, No 2, pp. 99-110.
  2. Simultaneous Localisation and Mapping (SLAM): Part II State of the Art. Robotics and Automation Magazine. 2006b, Vols. 13, No 3, pp. 108-117.
  3. Ekvall, S., Jensfelt, P. and Kragic, D. Integrating Active Mobile Robot Object Recognition and SLAM in Natural Environments. International Conference on Intelligent Robots and Systems, 2006 IEEE/RSJ. Beijing : IEEE, 2006, pp. 5792-5797.
  4. Galindo, C., et al. Multi-Hierarchical Semantic Maps for Mobile Robotics. International Conference on Intelligent Robots and Systems (IROS 2005). Edmonton : IEEE, 2005, pp. 2278- 2283.
  5. Hahnel, D., et al. Map Building with Mobile Robots in Dynamic Environments. Proceedings of the IEEE International Conference on Robotics and Automation. Taipei : IEEE, 2003, Vol. 2, pp. 1557-1563.
  6. Lucchese, L. and Mitra, S. K. Color image segmentation: A state-of-the-art survey. Proc. Indian Nat. Sci. Acad. (INSA-A). 2001, Vols. 67-A, pp. 207-221.
  7. Meger, D., et al. Curious George: An attentive semantic robot. Robotics and Autonomous Systems. Amsterdam : North-Holland Publishing Co., 2008, Vol. 56, pp. 503-511.
  8. Muhammad, N., Fofi, D. and Ainouz, S. Current state of the art of vision based SLAM. Image Processing: Machine Vision Applications II, Proceedings of the SPIE. 2009, Vol. 7251, pp. 72510F-72510F.
  9. Nüchter, A. and Hertzberg, J. Towards semantic maps for mobile robots. Robotics and Autonomous Systems. Amsterdam : North-Holland Publishing Co., 2008, Vol. 56, pp. 915-926.
  10. Persson, M., et al. Probabilistic Semantic Mapping with a Virtual Sensor for Building/Nature detection. International Symposium on Computational Intelligence in Robotics and Automation. Jacksonville : IEEE, 2007, pp. 236-242.
  11. Thrun, S. and Leonard, J. J. Simultaneous Localization and Mapping. [ed.] B. Siciliano and O. Khatib. Springer Handbook of Robotics. Berlin Heidelberg : Springer-Verlag, 2008, 37.
  12. Vasudevan, S., et al. Cognitive maps for mobile robots-an object based approach. Robotics and Autonomous Systems. Amsterdam : North-Holland Publishing Co., 2007, Vol. 55, pp. 359-371.
Download


Paper Citation


in Harvard Style

Maximilián Ramík D., Sabourin C. and Madani K. (2010). TOWARDS HUMAN INSPIRED SEMANTIC SLAM . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 360-363. DOI: 10.5220/0002912303600363


in Bibtex Style

@conference{icinco10,
author={Dominik Maximilián Ramík and Christophe Sabourin and Kurosh Madani},
title={TOWARDS HUMAN INSPIRED SEMANTIC SLAM},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={360-363},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002912303600363},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - TOWARDS HUMAN INSPIRED SEMANTIC SLAM
SN - 978-989-8425-01-0
AU - Maximilián Ramík D.
AU - Sabourin C.
AU - Madani K.
PY - 2010
SP - 360
EP - 363
DO - 10.5220/0002912303600363