Automatically Annotated Mapping for Indoor Mobile Robot Applications

Ali Gürcan Özkil, Thomas J. Howard

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

This paper presents a new and practical method for mapping and annotating indoor environments for mobile robot use. The method makes use of 2D occupancy grid maps for metric representation, and topology maps to indicate the connectivity of the ‘places-of-interests’ in the environment. Novel use of 2D visual tags allows encoding information physically at places-of-interest. Moreover, using physical characteristics of the visual tags (i.e. paper size) is exploited to recover relative poses of the tags in the environment using a simple camera. This method extends tag encoding to simultaneous localization and mapping in topology space, and fuses camera and robot pose estimations to build an automatically annotated global topo-metric map. It is developed as a framework for a hospital service robot and tested in a real hospital. Experiments show that the method is capable of producing globally consistent, automatically
annotated hybrid metric-topological maps that is needed by mobile service robots.
Original languageEnglish
Title of host publicationProceedings of the ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference
Number of pages9
PublisherAmerican Society of Mechanical Engineers
Publication date2012
PagesDETC2012-71351
Publication statusPublished - 2012
EventASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference: 36th Mechanisms and Robotics Conference (MR) - Chicago,IL, United States
Duration: 12 Aug 201215 Aug 2012

Conference

ConferenceASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
CountryUnited States
CityChicago,IL
Period12/08/201215/08/2012

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