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This paper addresses a problem of mobile robot exploration and map building for narrow space and wide-open space with 2D metric sensor. We estimate the type of environment with three steps of criteria, and apply different target pose extraction methods for each space. For the wide-open space, we use a concept of inverse skeleton based strategy which is proposed in this paper, while the narrow space,...
This paper proposes a new method to detect doors using context-based object recognition. Particularly, in order to improve the efficiency of object recognition, we utilize robotic context such as the robot's viewpoint and the average height of doorknobs. The robotic context is used to make a region of interest in a captured image which reduces both the computational time and false-postive rate in...
This paper proposes a novel global localization approach that uses hybrid maps of objects and spatial layouts. We model indoor environments using the following visual cues from a stereo camera: local invariant features for object recognition and their 3D positions for object location representation. We also use a 2D laser range finder. Therefore, we can build a hybrid local node for a topological...
In this paper, we suggest a new method of human augmented mapping for indoor environments using only a stereo camera. Through user's help, a robot with a stereo camera can investigate the environment without failure and even more efficiently. Moreover, the user can share the information about the environment with the robot and add semantic information to the environmental map. We employ PCA features...
This paper addresses the problem of topological mapping and exploration of unknown environments for mobile robot. The topological map is constructed by defining the spatial relationship between adjacent nodes and each node that has geometric information about its circumference. A laser range finder is used as the major sensing modality to collect the geometric data. The node point is extracted from...
This paper presents a new object entity based global localization approach with stereo camera. A local invariant feature and stereo depth information are used as visual features. The map we use here is a hybrid of global topological map and local object location map. The topological map includes some semantic information about the representing space and the object entities in the space. The object...
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