Snapshots for Semantic Maps
Abstract
A significant area of research in mobile robotics is in the local representation of a remote environment. To include a human in a mobile robot task it becomes important to present the remote information efficiently to a human. Semantic maps are a relatively new approach to information presentation. Semantic maps provide more detail about an environment than typical maps because they are augmented by icons or symbols that provide meaning for places or objects of interest. In this paper, the authors present snapshot technology as a means to take pictures from the real world and store them in a semantic map. To make the snapshots and semantic map available to an operator, they identify and discuss general attributes for useful displays and present a mixed reality 3D interface that meets these requirements. The interface and snapshot technology are validated through experiments in real and simulated environments. The experiments have shown that the 3D interface reduces operator workload and increases performance in comparison to typical 2D interfaces in navigation-based tasks. Furthermore, the operators tend to feel that they are in better control of the robot with the 3D display.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 2004
- Accession Number
- ADA446469
Entities
People
- Bob Ricks
- Curtis W. Nielsen
- David Bruemmer
- Doug Few
- Michael A Goodrich
- Miles Walton
Organizations
- Brigham Young University