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Conference papers
Semantic Representation For Navigation In Large-Scale Environments
Abstract : — Mimicking human navigation is a challenging goal for autonomous robots. This requires to explicitly take into account not only geometric representation but also high-level interpretation of the environment. In this paper, we demonstrate the capability to infer a route in a global map by using semantics. Our approach relies on an object-based representation of the world automatically built by robots from spherical images. In addition, we propose a new approach to specify paths in terms of high-level robot actions. This path description provides robots with the ability to interact with humans in an intuitive way. We perform experiments on simulated and real-world data, demonstrating the ability of our approach to deal with complex large-scale outdoor environments whilst dealing with labelling errors.
Cited literature [10 references]
https://hal.inria.fr/hal-01122196
Contributor : Eric Marchand <>
Submitted on : Tuesday, March 3, 2015 - 2:04:32 PM
Last modification on : Thursday, January 7, 2021 - 4:14:26 PM
Long-term archiving on: : Saturday, September 12, 2015 - 10:41:17 PM
Contributor : Eric Marchand <>
Submitted on : Tuesday, March 3, 2015 - 2:04:32 PM
Last modification on : Thursday, January 7, 2021 - 4:14:26 PM
Long-term archiving on: : Saturday, September 12, 2015 - 10:41:17 PM
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2015_icra_drouilly.pdf
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