Name
Abstract | ||
|---|---|---|
In this paper we present an integrated approach for efficient online 3D semantic map building of urban environments and the subsequent extraction of qualitative spatial relationships between the different objects in the scene. We split this process into three stages, where we combine a state of the art image segmentation and classification algorithm with an online clustering algorithm to obtain a coherent representation of the environment. Finally, a graph representation is extracted which can then be used for spatial reasoning and human robot interaction. We present first results from data collected by a mobile robot which operates in city areas. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1007/978-3-642-32732-2_4 | Spatial Cognition |
Keywords | Field | DocType |
qualitative spatial relationship,graph representation,mobile robot,efficient online,classification algorithm,online semantic mapping,spatial reasoning,art image segmentation,human robot interaction,coherent representation,urban environment,online clustering algorithm | Conditional random field,Spatial relation,Data mining,Spatial intelligence,Semantic mapping,Computer science,Image segmentation,Artificial intelligence,Cluster analysis,Mobile robot,Graph (abstract data type),Machine learning | Conference |
Citations | PageRank | References |
2 | 0.37 | 45 |
Authors | ||
7 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Nikos Mitsou | 1 | 87 | 5.98 |
| Roderick De Nijs | 2 | 83 | 5.74 |
| David Lenz | 3 | 7 | 1.83 |
| Johannes Frimberger | 4 | 2 | 0.37 |
| Dirk Wollherr | 5 | 673 | 60.01 |
| Kolja Kühnlenz | 6 | 430 | 40.87 |
| Costas Tzafestas | 7 | 19 | 2.48 |