Find my office: Navigating real space from semantic descriptions
Talbot, Ben, Lam, Obadiah, Schulz, Ruth, Dayoub, Feras, Upcroft, Ben, & Wyeth, Gordon (2016) Find my office: Navigating real space from semantic descriptions. In IEEE International Conference on Robotics and Automation (ICRA 2016), 15-21 May 2016, Stockholm, Sweden.
This paper shows that by using only symbolic language phrases, a mobile robot can purposefully navigate to specified rooms in previously unexplored environments. The robot intelligently organises a symbolic language description of the unseen environment and “imagines” a representative map, called the abstract map. The abstract map is an internal representation of the topological structure and spatial layout of symbolically defined locations. To perform goal-directed exploration, the abstract map creates a high-level semantic plan to reason about spaces beyond the robot’s known world. While completing the plan, the robot uses the metric guidance provided by a spatial layout, and grounded observations of door labels, to efficiently guide its navigation. The system is shown to complete exploration in unexplored spaces by travelling only 13.3% further than the optimal path.
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|Item Type:||Conference Paper|
|Keywords:||semantic navigation, robot navigation, symbolic spatial information|
|Divisions:||Current > Research Centres > ARC Centre of Excellence for Robotic Vision
Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2016 [Please consult the author]|
|Deposited On:||14 Mar 2016 02:12|
|Last Modified:||23 Jun 2016 00:59|
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