Semantic Localization through Propagation of Scene Information in a Hierarchical Model

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00334776" target="_blank" >RIV/68407700:21230/19:00334776 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/19:00334776
Result on the web
<a href="https://doi.org/10.1109/ECMR.2019.8870972" target="_blank" >https://doi.org/10.1109/ECMR.2019.8870972</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ECMR.2019.8870972" target="_blank" >10.1109/ECMR.2019.8870972</a>

Result language
angličtina
Original language name
Semantic Localization through Propagation of Scene Information in a Hierarchical Model
Original language description
The success of mobile robots, and particularly these coexisting with humans, relies on the ability to understand human environments. Representing the world and analysing spaces in a similar way to humans will enhance their comprehension and enable higher abstraction capabilities and interactions. The purpose of this work is to develop a localization framework that takes into account the different scenes common in a human environment and a hierarchical model of the environment. A probabilistic model for recognizing scenes is employed to determine the scene in which the robot is located. To allow that, the information about the objects and the relationships between them are considered. Besides that, a hierarchical model formed by different topological representations according to different levels of abstraction is proposed. Localization is performed at different levels to improve the localization accuracy. In this work, scene information is used to improve the localization of a mobile robot in a hierarchical model using hidden Markov models. The experiments of our framework working in real environments uphold the usefulness of the inclusion of the understanding and abstraction of the environment in localization.
Czech name
—
Czech description
—

Project
<a href="/en/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotics 4 Industry 4.0</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of European Conference on Mobile Robots
ISBN
978-1-7281-3605-9
ISSN
—
e-ISSN
—
Number of pages
6
Pages from-to
—
Publisher name
Czech Technical University
Place of publication
Prague
Event location
Prague
Event date
Aug 4, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000558081900067

Similar results(10)