loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

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

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 orie nted geometric construction. (More)

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 35.173.181.0

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Freitas, R.; Sarcinelli-Filho, M.; Bastos-Filho, T. and Santos-Victor, J. (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; ISSN 2184-2809, SciTePress, 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},
issn={2184-2809},
}

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
IS - 2184-2809
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
PB - SciTePress