Moving from augmented to interactive mapping

Recently1 there has been a growing interest in human augmented mapping[1, 2]. That is: a mobile robot builds a low level spatial representation of the environment based on its sensor readings while a human provides labels for human concepts, such as rooms, which are then augmented or anchored to this representation or map [3]. Given such an augmented map the robot has the ability to communicate with the human about spatial concepts using the labels that the human understand. For instance, the robot could report it is in the ”kitchen”, instead of a set Cartesian coordinates which are probably meaningless to the human.

[1]  Henrik I. Christensen,et al.  Bringing Together Human and Robotic Environment Representations - A Pilot Study , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Edsger W. Dijkstra,et al.  A note on two problems in connexion with graphs , 1959, Numerische Mathematik.

[3]  Ben J. A. Kröse,et al.  Sparse appearance based modeling for robot localization , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Alessandro Saffiotti,et al.  Active perceptual anchoring of robot behavior in a dynamic environment , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[5]  Wolfram Burgard,et al.  Conceptual spatial representations for indoor mobile robots , 2008, Robotics Auton. Syst..

[6]  Sebastian Wrede,et al.  A Flexible Infrastructure for the Development of a Robot Companion with Extensible HRI-Capabilities , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[7]  Ben J. A. Kröse,et al.  BIRON, where are you? Enabling a robot to learn new places in a real home environment by integrating spoken dialog and visual localization , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Lindsay Kleeman,et al.  Interactive SLAM using Laser and Advanced Sonar , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[9]  Wolfram Burgard,et al.  Supervised semantic labeling of places using information extracted from sensor data , 2007, Robotics Auton. Syst..