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Andrzej Pronobis

Multi-modal Semantic Mapping

A. Pronobis, P. Jensfelt

In: RSS 2011 Workshop on Grounding Human-Robot Dialog for Spatial Tasks, 2011.


A cornerstone for mobile robots operating in man-made environments and interacting with humans is representing and understanding the human semantic concepts of space. In this paper, we present a multi-layered semantic mapping algorithm able to combine information about the existence of objects in the environment with knowledge about the topology and semantic properties of space such as room size, shape and general appearance. We use it to infer semantic categories of rooms and predict existence of objects and values of other spatial properties. We perform experiments on a mobile robot showing the efficiency and usefulness of our system.


  author =       {Pronobis, Andrzej and Jensfelt, Patric},
  title =        {Multi-modal Semantic Mapping},
  booktitle =    {RSS 2011 Workshop on Grounding Human-Robot Dialog for Spatial Tasks},
  year =         2011,
  address =      {Los Angeles, CA, USA},
  month =        jul,
  url =          {}