Semantic Localization, Mapping & Navigation
Nikolay A. Atanasov, Sean Bowman, Kostas Daniilidis, George Pappas

Citation
Nikolay A. Atanasov, Sean Bowman, Kostas Daniilidis, George Pappas. "Semantic Localization, Mapping & Navigation". Talk or presentation, October, 2015; Poster presented at the 2015 TerraSwarm Annual Meeting.

Abstract
Most existing approaches to robotic mapping and localization rely on low-level geometric features such as points, lines, and planes. In this work, we use object recognition to obtain semantic information from the robot's sensors and consider the task of simultaneous localization and mapping (SLAM) in such semantic settings. As object recognition algorithms miss detections and produce false alarms, correct data association between the detections and the landmarks on the map is central to the semantic SLAM problem. In addition to mapping and localization, a mobile robot needs to be able to navigate and accomplish high-level tasks in these semantic environments. Hence, we discuss correctness guarantees for robot motion planning under temporal logic constraints in probabilistic maps obtained via semantic SLAM.

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  • HTML
    Nikolay A. Atanasov, Sean Bowman, Kostas Daniilidis, George
    Pappas. <a
    href="http://www.terraswarm.org/pubs/630.html"><i>Semantic
    Localization, Mapping & Navigation</i></a>,
    Talk or presentation,  October, 2015; Poster presented at
    the <a
    href="http://terraswarm.org/conferences/15/annual"
    >2015 TerraSwarm Annual Meeting</a>.
  • Plain text
    Nikolay A. Atanasov, Sean Bowman, Kostas Daniilidis, George
    Pappas. "Semantic Localization, Mapping &
    Navigation". Talk or presentation,  October, 2015;
    Poster presented at the <a
    href="http://terraswarm.org/conferences/15/annual"
    >2015 TerraSwarm Annual Meeting</a>.
  • BibTeX
    @presentation{AtanasovBowmanDaniilidisPappas15_SemanticLocalizationMappingNavigation,
        author = {Nikolay A. Atanasov and Sean Bowman and Kostas
                  Daniilidis and George Pappas},
        title = {Semantic Localization, Mapping \& Navigation},
        month = {October},
        year = {2015},
        note = {Poster presented at the <a
                  href="http://terraswarm.org/conferences/15/annual"
                  >2015 TerraSwarm Annual Meeting</a>.},
        abstract = {Most existing approaches to robotic mapping and
                  localization rely on low-level geometric features
                  such as points, lines, and planes. In this work,
                  we use object recognition to obtain semantic
                  information from the robot's sensors and consider
                  the task of simultaneous localization and mapping
                  (SLAM) in such semantic settings. As object
                  recognition algorithms miss detections and produce
                  false alarms, correct data association between the
                  detections and the landmarks on the map is central
                  to the semantic SLAM problem. In addition to
                  mapping and localization, a mobile robot needs to
                  be able to navigate and accomplish high-level
                  tasks in these semantic environments. Hence, we
                  discuss correctness guarantees for robot motion
                  planning under temporal logic constraints in
                  probabilistic maps obtained via semantic SLAM.},
        URL = {http://terraswarm.org/pubs/630.html}
    }
    

Posted by Nikolay A. Atanasov on 30 Sep 2015.
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