Semantic mapping for mobile robotics tasks: A survey
Semantic mapping for mobile robotics tasks: A survey
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DOI：
10.1016/j.robot.2014.12.006
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发表时间：
2015-04-01
影响因子：
4.3
通讯作者：
Gasteratos, Antonios
中科院分区：
文献类型：
--
作者：
Kostavelis, Ioannis;Gasteratos, Antonios
当代移动的机器人技术的发展推动了一系列附加的联合技术。语义映射就是其中之一，它提供了一种空间的抽象和一种人机通信的手段。语义映射的最近引入和演变促使了这项调查，其中寻求对现有方法的明确分析。这几种算法根据其主要特征进行分类，即可扩展性，推理模型，时间一致性和拓扑地图的使用。涉及语义地图的应用程序也概述了手头的工作，强调人的互动，知识表示和规划。公开可用的验证数据集和基准的存在，适用于语义映射技术的评估也进行了详细讨论。最后，还试图解决开放的问题和疑问。(C)2014爱思唯尔有限公司版权所有。
The evolution of contemporary mobile robotics has given thrust to a series of additional conjunct technologies. Of such is the semantic mapping, which provides an abstraction of space and a means for human-robot communication. The recent introduction and evolution of semantic mapping motivated this survey, in which an explicit analysis of the existing methods is sought. The several algorithms are categorized according to their primary characteristics, namely scalability, inference model, temporal coherence and topological map usage. The applications involving semantic maps are also outlined in the work at hand, emphasizing on human interaction, knowledge representation and planning. The existence of publicly available validation datasets and benchmarking, suitable for the evaluation of semantic mapping techniques is also discussed in detail. Last, an attempt to address open issues and questions is also made. (C) 2014 Elsevier B.V. All rights reserved.