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Using sketch-maps for robot navigation: interpretation and matching
Örebro University, School of Science and Technology, Örebro University, Sweden. (AASS MRO Lab)
Örebro University, School of Science and Technology, Örebro University, Sweden. (AASS MRO Lab)ORCID iD: 0000-0001-8658-2985
Örebro University, School of Science and Technology, Örebro University, Sweden. (AASS MRO Lab)ORCID iD: 0000-0003-0217-9326
2016 (English)Conference paper (Refereed)
Abstract [en]

We present a study on sketch-map interpretationand sketch to robot map matching, where maps have nonuniform scale, different shapes or can be incomplete. For humans, sketch-maps are an intuitive way to communicate navigation information, which makes it interesting to use sketch-maps forhuman robot interaction; e.g., in emergency scenarios.

To interpret the sketch-map, we propose to use a Voronoi diagram that is obtained from the distance image on which a thinning parameter is used to remove spurious branches. The diagram is extracted as a graph and an efficient error-tolerant graph matching algorithm is used to find correspondences, while keeping time and memory complexity low.

A comparison against common algorithms for graph extraction shows that our method leads to twice as many good matches. For simple maps, our method gives 95% good matches even for heavily distorted sketches, and for a more complex real-world map, up to 58%. This paper is a first step toward using unconstrained sketch-maps in robot navigation.

Place, publisher, year, edition, pages
IEEE, 2016.
Keyword [en]
sketch, sketch-map, human robot interface, HRI, graph matching
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-53826OAI: oai:DiVA.org:oru-53826DiVA: diva2:1054805
Conference
14th IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR 2016), EPFL, Lausanne, Switzerland, October 23-27, 2016
Funder
EU, Horizon 2020, ICT-23-2014 645101 SmokeBot
Available from: 2016-12-09 Created: 2016-12-07 Last updated: 2016-12-12Bibliographically approved

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Mielle, MalcolmMagnusson, MartinLilienthal, Achim J.
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