Integrating Active Mobile Robot Object Recognition and SLAM in Natural Environments

摘要

Linking semantic and spatial information has become an important research area in robotics since, for robots interacting with humans and performing tasks in natural environments, it is of foremost importance to be able to reason beyond simple geometrical and spatial levels. In this paper, we consider this problem in a service robot scenario where a mobile robot autonomously navigates in a domestic environment, builds a map as it moves along, localizes its position in it, recognizes objects on its way and puts them in the map. The experimental evaluation is performed in a realistic setting where the main concentration is put on the synergy of object recognition and simultaneous localization and mapping systems