Show simple item record

dc.contributor.authorRetamino Carrión, Eloy
dc.contributor.authorSanfeliu Cortés, Alberto
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.identifier.citationRetamino, E.; Sanfeliu, A. Human-robot collaborative scene mapping from relational descriptions. A: Iberian Robotics Conference. "ROBOT2013: First Iberian Robotics Conference, Advances in Robotics, Vol.2". Madrid: Springer, 2013, p. 331-346.
dc.description.abstractIn this article we propose a method for cooperatively building a scene map between a human and a robot by using a spatial relational model employed by the robot to interpret human descriptions of the scene. The description will consist in a set of spatial relations between the objects in the scene. The scene map will contain the position of these objects. For this end we propose a model based on the generation of scalar fields of applicability for each of the available relations. The method can be summarized as follows. In first place a person will come into the room and describe the scene to the robot, including in the description semantic information about the objects which the robot can't get from its sensors. From the description the robot will form the scene mental map. In second place the robot will sense the scene with a 2D range laser building the scene sensed map. The objects positions in the mental map will be used to guide the sensing process. In a third step the robot will fuse the two maps, linking the semantic information about the described objects to the corresponding sensed ones. The resulting map is called the scene enriched map.
dc.format.extent16 p.
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshMobile robots
dc.subject.othermobile robots uncertainty handling
dc.titleHuman-robot collaborative scene mapping from relational descriptions
dc.typeConference report
dc.subject.lemacRobots mòbils
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots::Mobile robots
dc.rights.accessOpen Access
dc.description.versionPostprint (author’s final draft)
upcommons.citation.authorRetamino, E.; Sanfeliu, A.
upcommons.citation.contributorIberian Robotics Conference
upcommons.citation.publicationNameROBOT2013: First Iberian Robotics Conference, Advances in Robotics, Vol.2

Files in this item


This item appears in the following Collection(s)

Show simple item record

Except where otherwise noted, content on this work is licensed under a Creative Commons license: Attribution-NonCommercial-NoDerivs 3.0 Spain