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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Citation formats

• 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.
Groups: services