Online semantic mapping of urban environments

Nikos Mitsou, Roderick De Nijs, David Lenz, Johannes Frimberger, Dirk Wollherr, Kolja Kühnlenz, Costas Tzafestas

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations

Abstract

In this paper we present an integrated approach for efficient online 3D semantic map building of urban environments and the subsequent extraction of qualitative spatial relationships between the different objects in the scene. We split this process into three stages, where we combine a state of the art image segmentation and classification algorithm with an online clustering algorithm to obtain a coherent representation of the environment. Finally, a graph representation is extracted which can then be used for spatial reasoning and human robot interaction. We present first results from data collected by a mobile robot which operates in city areas.

Original languageEnglish
Title of host publicationSpatial Cognition VIII - International Conference, Spatial Cognition 2012, Proceedings
Pages54-73
Number of pages20
DOIs
StatePublished - 2012
EventInternational Conference on Spatial Cognition, SC 2012 - Kloster Seeon, Germany
Duration: 31 Aug 20123 Sep 2012

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7463 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

ConferenceInternational Conference on Spatial Cognition, SC 2012
Country/TerritoryGermany
CityKloster Seeon
Period31/08/123/09/12

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