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Semi-Supervised Semantic Labeling of Adaptive Cell Decomposition Maps in Well-Structured Environments
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR - Center for Applied Intelligent Systems Research.ORCID iD: 0000-0003-3498-0783
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR - Center for Applied Intelligent Systems Research.
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR - Center for Applied Intelligent Systems Research.ORCID iD: 0000-0003-3513-8854
2015 (English)In: 2015 European Conference on Mobile Robots (ECMR), Piscataway, NJ: IEEE Press, 2015, article id 7324207Conference paper, Published paper (Refereed)
Abstract [en]

We present a semi-supervised approach for semantic mapping, by introducing human knowledge after unsupervised place categorization has been combined with an adaptive cell decomposition of an occupancy map. Place categorization is based on clustering features extracted from raycasting in the occupancy map. The cell decomposition is provided by work we published previously, which is effective for the maps that could be abstracted by straight lines. Compared to related methods, our approach obviates the need for a low-level link between human knowledge and the perception and mapping sub-system, or the onerous preparation of training data for supervised learning. Application scenarios include intelligent warehouse robots which need a heightened awareness in order to operate with a higher degree of autonomy and flexibility, and integrate more fully with inventory management systems. The approach is shown to be robust and flexible with respect to different types of environments and sensor setups. © 2015 IEEE

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Press, 2015. article id 7324207
Keywords [en]
Continuous wavelet transforms, Feature extraction, Labeling, Robot sensing systems, Robustness, Semantics
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-29343DOI: 10.1109/ECMR.2015.7324207ISI: 000380213600041Scopus ID: 2-s2.0-84962293280ISBN: 978-1-4673-9163-4 ISBN: 978-1-4673-9163-15 OAI: oai:DiVA.org:hh-29343DiVA, id: diva2:850141
Conference
7th European Conference on Mobile Robots 2015, Lincoln, United Kingdom, 2-4 September, 2015
Projects
AIMS
Funder
Knowledge Foundation
Note

This work was supported by the Swedish Knowledge Foundation and industry partners Kollmorgen, Optronic, and Toyota Material Handling Europe.

Available from: 2015-09-01 Created: 2015-09-01 Last updated: 2018-05-02Bibliographically approved
In thesis
1. Semantic Mapping in Warehouses
Open this publication in new window or tab >>Semantic Mapping in Warehouses
2016 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

This thesis and appended papers present the process of tacking the problem of environment modeling for autonomous agent. More specifically, the focus of the work has been semantic mapping of warehouses. A semantic map for such purpose is expected to be layout-like and support semantics of both open spaces and infrastructure of the environment. The representation of the semantic map is required to be understandable by all involved agents (humans, AGVs and WMS.) And the process of semantic mapping is desired to lean toward full-autonomy, with minimum input requirement from human user. To that end, we studied the problem of semantic annotation over two kinds of spatial map from different modalities. We identified properties, structure, and challenges of the problem. And we have developed representations and accompanied methods, while meeting the set criteria. The overall objective of the work is “to develop and construct a layer of abstraction (models and/or decomposition) for structuring and facilitate access to salient information in the sensory data. This layer of abstraction connects high level concepts to low-level sensory pattern.” Relying on modeling and decomposition of sensory data, we present our work on abstract representation for two modalities (laser scanner and camera) in three appended papers. Feasibility and the performance of the proposed methods are evaluated over data from real warehouse. The thesis conclude with summarizing the presented technical details, and drawing the outline for future work.

Place, publisher, year, edition, pages
Halmstad University: Halmstad University Press, 2016. p. 88
Series
Halmstad University Dissertations ; 23
Keywords
Automation, Robotics, Mapping, Semantic Maps, Warehouse Automation
National Category
Robotics Signal Processing
Identifiers
urn:nbn:se:hh:diva-32170 (URN)978-91-87045-48-6 (ISBN)978-91-87045-49-3 (ISBN)
Presentation
2016-09-23, Wigforssalen, Kristian IV:s väg 3, Halmstad, Sweden, 10:15 (English)
Opponent
Supervisors
Projects
Automatic Inventory and Mapping of Stock (AIMS)
Funder
Knowledge Foundation
Available from: 2016-10-13 Created: 2016-10-08 Last updated: 2017-05-16Bibliographically approved
2. Interpretation and Alignment of 2D Indoor Maps: Towards a Heterogeneous Map Representation
Open this publication in new window or tab >>Interpretation and Alignment of 2D Indoor Maps: Towards a Heterogeneous Map Representation
2018 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Mobile robots are increasingly being used in automation solutions with notable examples in service robots, such as home-care, and warehouses. Autonomy of mobile robots is particularly challenging, since their work space is not deterministic, known a priori, or fully predictable. Accordingly, the ability to model the work space, that is robotic mapping, is among the core technologies that are the backbone of autonomous mobile robots. However, for some applications the abilities of mapping and localization do not meet all the requirements, and robots with an enhanced awareness of their surroundings are desired. For instance, a map augmented with semantic labels is instrumental to support Human-Robot Interaction and high-level task planning and reasoning.This thesis addresses this requirement through an interpretation and integration of multiple input maps into a semantically annotated heterogeneous representation. The heterogeneity of the representation should to contain different interpretations of an input map, establish and maintain associations among different input sources, and construct a hierarchy of abstraction through model-based representation. The structuring and construction of this representation are at the core of this thesis, and the main objectives are: a) modeling, interpretation, semantic annotation, and association of the different data sources into a heterogeneous representation, and b) improving the autonomy of the aforementioned processes by curtailing the dependency of the methods on human input, such as domain knowledge.This work proposes map interpretation techniques, such as abstract representation through modeling and semantic annotation, in an attempt to enrich the final representation. In order to associate multiple data sources, this work also proposes a map alignment method. The contributions and general observations that result from the studies included in this work could be summarized as: i) manner of structuring the heterogeneous representation, ii) underlining the advantages of modeling and abstract representations, iii) several approaches to semantic annotation, and iv) improved extensibility of methods by lessening their dependency on human input.The scope of the work has been focused on 2D maps of well-structured indoor environments, such as warehouses, home, and office buildings.

Place, publisher, year, edition, pages
Halmstad: Halmstad University Press, 2018. p. 180
Series
Halmstad University Dissertations ; 46
Keywords
Robotics, Mobile Robots, Autonomous Robots, Robot Perception, Robotic Mapping, Map Interpretation, Semantic Mapping, Place Categorization, Place Labeling, Semantic Annotation, Map Alignment, Region Segmentation, Region Decomposition, Map Representation, Heterogeneous Representation
National Category
Robotics
Identifiers
urn:nbn:se:hh:diva-36699 (URN)978-91-87045-96-7 (ISBN)978-91-87045-97-4 (ISBN)
Public defence
2018-06-14, O103, Linjegatan 12, Halmstad, 10:15 (English)
Opponent
Supervisors
Available from: 2018-05-04 Created: 2018-04-27 Last updated: 2018-05-04

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Gholami Shahbandi, SaeedÅstrand, BjörnPhilippsen, Roland

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