TY - GEN
T1 - Online semantic mapping of urban environments
AU - Mitsou, Nikos
AU - De Nijs, Roderick
AU - Lenz, David
AU - Frimberger, Johannes
AU - Wollherr, Dirk
AU - Kühnlenz, Kolja
AU - Tzafestas, Costas
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84868250808&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-32732-2_4
DO - 10.1007/978-3-642-32732-2_4
M3 - Conference contribution
AN - SCOPUS:84868250808
SN - 9783642327315
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 54
EP - 73
BT - Spatial Cognition VIII - International Conference, Spatial Cognition 2012, Proceedings
T2 - International Conference on Spatial Cognition, SC 2012
Y2 - 31 August 2012 through 3 September 2012
ER -