Abstract
The automatic acquisition of structured object maps requires sophisticated perceptual mechanisms that enable the robot to recognize the objects that are to be stored in the robot map. This paper investigates a particular object recognition problem: the automatic detection and classification of gateways in office environments based on laser range data. We will propose, discuss, and empirically evaluate a sensor model for crossing gateways and different approaches to gateway classification including simple maximum classifiers and HMM-based classification of observation sequences.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Beeson, P., MacMahon, M., Modayil, J., Provost, J., Savelli, F., Kuipers, B.: Exploiting local perceptual models for topological map-building. In: IJCAI 2003 Workshop RUR 2003 (2003)
Burgard, W., Cremers, A.B., Fox, D., Hähnel, D., Lakemeyer, G., Schulz, D., Steiner, W., Thrun, S.: Experiences with an interactive museum tour-guide robot. Artificial Intelligence 114(1-2) (2000)
Chown, E.: Gateways: An approach to parsing spatial domains. In: ICML 2000 Workshop on Machine Learning of Spatial Knowledge (2000)
Gutmann, J.-S., Schröter, D., Beetz, M.: RG Mapping: Learning Compact and Structured 2D Line Maps of Indoor Environments. In: Proc. of 11th IEEE ROMAN 2002, Berlin/Germany (2002)
Duda, R.O., Hart, P.E., Stork, D.G.: Pattern Classification, 2nd edn. JohnWiley & Sons, Inc., NewYork (2001)
Gutmann, J.-S.: Robuste Navigation autonomer mobiler Systeme (in German). Akademische Verlagsgesellschaft Aka, Berlin, Doctoral Thesis University of Freiburg (2000)
Haehnel, D., Fox, D., Burgard, W., Thrun, S.: A highly efficient FastSLAM algorithm for generating cyclic maps of large-scale environments from raw laser range measurements. In: Proc. of IEEE IROS, Las Vegas/USA (2003)
Kortenkamp, D.: Cognitive Maps for mobile robots: A representation for mapping and navigation. PhD thesis, University of Michigan (1993)
Rabiner, L.R., Juang, B.H.: An introduction to hidden Markov models. IEEE ASSP Magazine, 4–15 (January 1986)
Schröter, D., Beetz, M.: Acquiring Modells of Rectangular Objects for Robot Maps. In: Proc. of IEEE ICRA, New Orleans/USA (2004)
Thrun, S.: Robotic mapping: A survey. In: Lakemeyer, G., Nebel, B. (eds.) Exploring Artificial Intelligence in the New Millenium, Morgan Kaufmann, San Francisco (2002)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2004 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Schröter, D., Weber, T., Beetz, M., Radig, B. (2004). Detection and Classification of Gateways for the Acquisition of Structured Robot Maps. In: Rasmussen, C.E., Bülthoff, H.H., Schölkopf, B., Giese, M.A. (eds) Pattern Recognition. DAGM 2004. Lecture Notes in Computer Science, vol 3175. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-28649-3_68
Download citation
DOI: https://doi.org/10.1007/978-3-540-28649-3_68
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-22945-2
Online ISBN: 978-3-540-28649-3
eBook Packages: Springer Book Archive