Object semantic map representation for indoor mobile robots

Abstract

We propose a novel semantic map representation method of indoor environment for mobile robots. The semantics is based on objects, which can be a desk, a wall, a room, or other things. The environment model is composed of object identifiers, object properties and relationships among them. The map is represented by Web Ontology Language (OWL) to share semantic knowledge with human. In order to extract the semantic information, plane extraction, object recognition and region inference are implemented by using the stereo image data. The experiment of representing an indoor scene shows that the method is feasible and effective to describe indoor environment.