Semantic Mapping with Mobile Robots

A. Pronobis

PhD thesis, KTH Royal Institute of Technology, 2011.

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Included Papers

Videos


Dora, the robot, exploiting probabilistic semantic spatial knowledge under uncertain sensing for efficient object search. The robot is instructed to find cornflakes in a house. Instead of just exhaustively searching everywhere, Dora is equipped with probabilistic reasoning and planning using the probabilistic knowledge captured in the semantic map.

Video illustrating the real-time experiments during which the robot constructs a semantic map of a large-scale indoor office environment. The semantic mapping algorithm exploits object information, appearance, geometry and topology. The video is best viewed full screen in HD on the YouTube page.

A mobile robot searching for an object in a large-scale unknown indoor environment. The system is based on a tight integration between a domain-independent planning algorithm and a semantic mapping component.

Video presenting real-time experiments with multi-modal place classification and semantic annotation of space using vision and laser range data.

BibTeX

@phdthesis{pronobis2011phd,
  author =       {Pronobis, Andrzej},
  title =        {Semantic Mapping with Mobile Robots},
  school =       {KTH Royal Institute of Technology},
  address =      {Stockholm, Sweden},
  month =        jun,
  year =         2011,
  isbn =         {ISBN 978-91-7501-039-7},
  issn =         {ISSN-1653-5723},
  url =          {http://www.pronobis.pro/phd}
}
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