Learning spatial concepts from RatSLAM representations

被引：22

作者：

Milford, Michael ^{[1
]}

Schulz, Ruth ^{[1
]}

Prasser, David ^{[1
]}

Wyeth, Gordon ^{[1
]}

Wiles, Janet ^{[1
]}

机构：

[1] Univ Queensland, Sch Informat Technol & Elect Engn, St Lucia, Qld 4072, Australia

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2007年 / 55卷 / 05期

基金：

澳大利亚研究理事会;

关键词：

spatial conceptualization; RatSLAM; SLAM; experience mapping;

D O I：

10.1016/j.robot.2006.12.006

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

RatSLAM is a biologically-inspired visual SLAM and navigation system that has been shown to be effective indoors and outdoors on real robots. The spatial representation at the core of RatSLAM, the experience map, forms in a distributed fashion as the robot learns the environment. The activity in RatSLAM's experience map possesses some geometric properties, but still does not represent the world in a human readable form. A new system, dubbed RatChat, has been introduced to enable meaningful communication with the robot. The intention is to use the "language games" paradigm to build spatial concepts that can be used as the basis for communication. This paper describes the first step in the language game experiments, showing the potential for meaningful categorization of the spatial representations in RatSLAM. (c) 2006 Elsevier B.V. All rights reserved.

引用

页码：403 / 410

页数：8

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