A study on mapping of multi-modal environment for mobile robot in semi-dynamic environment

为了探索移动的机器人在半动态环境中工作的多模态映射技术，我们开发了三个子系统：（1）通过使用彩色图像数据和物体的距离数据来提高物体的位姿精度的子系统，（2）在环境中教学物体时估计教师手指指向手势方向的子系统，以及（3）子系统，用于使用教师和机器人之间的语音交互来教导对象的语义信息，诸如名称和所有者。我们验证了这些子系统。

In order to explore multimodal mapping techniques for mobile robot to work in semi-dynamic environment, we have developed three subsystems, (1) a subsystem to improve accuracy of object's pose by using color image data in addition to its range data, (2) a subsystem to estimate direction of finger pointing gesture of a tutor in teaching objects in the environment, and (3) a subsystem to teach semantic information of the objects, such as names and owners, ususing voice interaction between a tutor and a robot. And we validated these subsystems.