Not seeing is also believing: Combining object and metric spatial information
Name
Kaelbling_Not seeing.pdf
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4.09 MB
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Adobe PDF
Checksum (MD5)
897ba685095db3de3f5e92356aefba7a
Author(s)
Wong, Lawson L. S.
Lozano-Perez, Tomas
Kaelbling, Leslie P.
Date Issued
May 2014
Journal
Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Wong, Lawson L. S., Leslie Pack Kaelbling, and Tomas Lozano-Perez. “Not Seeing Is Also Believing: Combining Object and Metric Spatial Information.” 2014 IEEE International Conference on Robotics and Automation (ICRA) (May 2014).
Version
Author's final manuscript
Abstract
Spatial representations are fundamental to mobile robots operating in uncertain environments. Two frequently-used representations are occupancy grid maps, which only model metric information, and object-based world models, which only model object attributes. Many tasks represent space in just one of these two ways; however, because objects must be physically grounded in metric space, these two distinct layers of representation are fundamentally linked. We develop an approach that maintains these two sources of spatial information separately, and combines them on demand. We illustrate the utility and necessity of combining such information through applying our approach to a collection of motivating examples.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ICRA.2014.6907014
