oru.sePublikationer
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
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)In: 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), New York: Institute of Electrical and Electronics Engineers (IEEE), 2016, 252-257 p.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
New York: Institute of Electrical and Electronics Engineers (IEEE), 2016. 252-257 p.
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-53826DOI: 10.1109/SSRR.2016.7784307ISI: 000391310800039ScopusID: 2-s2.0-85009754966ISBN: 978-1-5090-4349-1 (electronic)OAI: 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: 2017-02-06Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Mielle, MalcolmMagnusson, MartinLilienthal, Achim J.
By organisation
School of Science and Technology, Örebro University, Sweden
Computer Science

Search outside of DiVA

GoogleGoogle Scholar

Altmetric score

Total: 116 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf