Using sketch-maps for robot navigation: interpretation and matching
2016 (English)Conference paper (Refereed)
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
sketch, sketch-map, human robot interface, HRI, graph matching
Research subject Computer Science
IdentifiersURN: urn:nbn:se:oru:diva-53826OAI: oai:DiVA.org:oru-53826DiVA: diva2:1054805
14th IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR 2016), EPFL, Lausanne, Switzerland, October 23-27, 2016
FunderEU, Horizon 2020, ICT-23-2014 645101 SmokeBot