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Spatial Abstraction and Mapping

Authors: [tex2html_wrap4180]G. Dudek, P. Mackenzie, C. Zhang

Investigator username: dudek

Category: perception

Subcategory: active perception

This project involves the development of a formalism and methodology for making the transition from raw noisy sensor data collected by a roving robot to a map composed of object models and finally to a simple abstract map described in terms of discrete places of interest.

An important early stage of such processing is the ability to select, represent and find a discrete set of places of interest or landmarks that will make up a map. Associated problems are those of using a map to accurately localize a mobile robot and generating intelligent exploration plans to verify and elaborate a map. This project considers the use of various technologies (sonar, vison, BIRIS) to perform robot localization and exploration.