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Authors: Roger Freitas 1 ; Mário Sarcinelli-Filho 1 ; Teodiano Bastos-Filho 1 and José Santos-Victor 2

Affiliations: 1 Universidade Federal do Espírito Santo, Brazil ; 2 Instituto de Sistemas e Robótica, Instituto Superior Técnico, Portugal

ISBN: 972-8865-30-9

Keyword(s): Learning, Topological Navigation, Incremental PCA, Affordances.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: Mobile robots remain idle during significant amounts of time in many applications, while a new task is not assigned to it. In this paper, we propose a framework to use such periods of inactivity to observe the surrounding environment and learn information that can be used later on during navigation. Events like someone entering or leaving a room, someone approaching a printer to pick a document up, etc., convey important information about the observed space and the role played by the objects therein. Information implicitly present in the motion patterns people describe in a certain workspace is then explored, to allow the robot to infer a “meaningful” spatial description. Such spatial representation is not driven by abstract geometrical considerations but, rather, by the role or function associated to locations or objects (affordances) and learnt by observing people’s behaviour. Map building is thus bottom-up driven by the observation of human activity, and not simply a top-down orien ted geometric construction. (More)

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Paper citation in several formats:
Freitas R.; Sarcinelli-Filho M.; Bastos-Filho T.; Santos-Victor J. and (2005). A STRATEGY FOR BUILDING TOPOLOGICAL MAPS THROUGH SCENE OBSERVATION.In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-30-9, pages 168-174. DOI: 10.5220/0001171101680174

@conference{icinco05,
author={Roger Freitas and Mário Sarcinelli{-}Filho and Teodiano Bastos{-}Filho and José Santos{-}Victor},
title={A STRATEGY FOR BUILDING TOPOLOGICAL MAPS THROUGH SCENE OBSERVATION},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2005},
pages={168-174},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001171101680174},
isbn={972-8865-30-9},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A STRATEGY FOR BUILDING TOPOLOGICAL MAPS THROUGH SCENE OBSERVATION
SN - 972-8865-30-9
AU - Freitas, R.
AU - Sarcinelli-Filho, M.
AU - Bastos-Filho, T.
AU - Santos-Victor, J.
PY - 2005
SP - 168
EP - 174
DO - 10.5220/0001171101680174

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