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Concurrent indoor map construction and patterns of interests recognition using sensory fusion approach for service robotics

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2 Author(s)
Luo, R.C. ; Center for Intell. Robot. & Autom., Nat. Taiwan Univ., Taipei, Taiwan ; Lai, C.C.

It is desirable that an Intelligent Service Robot (ISR) will not only construct the environment map but also recognize the meaningful symbols/signs in the building it services simultaneously. The objective of this paper is to describe an ISR autonomously estimate the environment structure and simultaneously detect the commonly recognized symbols/signs in the building. The result is an information map constructed by the environment geometry from a laser range finder and the indoor indicators from visual image. To implement this indicative information map, sensory fusion techniques: batch Maximum Likelihood Estimator (MLE) and Covariance Union (CU) are tactically utilized for robust pose and sign estimations in a single SLAM process. Also, a 2.5D indicative environment map has been constructed rapidly with the 3D Mesa SwissRanger. We have successfully demonstrated the proof of concept experimentally and summarized in the concluding remarks.

Published in:

Robotics and Automation (ICRA), 2012 IEEE International Conference on

Date of Conference:

14-18 May 2012