Abstract
It is desirable that an Intelligent Service Robot (ISR) will not only construct the environment map but also recognize the meaningful symbols/signs in the building it services simultaneously. The objective of this paper is to describe an ISR autonomously estimate the environment structure and simultaneously detect the commonly recognized symbols/signs in the building. The result is an information map constructed by the environment geometry from a laser range finder and the indoor indicators from visual image. To implement this indicative information map, sensory fusion techniques: batch Maximum Likelihood Estimator (MLE) and Covariance Union (CU) are tactically utilized for robust pose and sign estimations in a single SLAM process. Also, a 2.5D indicative environment map has been constructed rapidly with the 3D Mesa SwissRanger. We have successfully demonstrated the proof of concept experimentally and summarized in the concluding remarks.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
