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doc:environment_map_meta_information [2013/04/22 09:31] – created admin | doc:environment_map_meta_information [2014/12/07 08:57] (current) – admin |
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====== Meta-information about environment maps ====== | ====== Meta-information about environment maps ====== |
~~NOTOC~~ | ~~NOTOC~~ |
In particular in the context of the RoboEarth project, which deals with the exchange of knowledge between robots, robots face the problem how to represent which environment is described in a map in such a way that robots can query for a map and retrieve the right one? The following approach has been chosen in the RoboEarth context: | |
| Robots sometimes face the problem how to represent which environment is described inside a map. In the context of the RoboEarth project, which dealt with the exchange of knowledge between robots, this was required to enable robots to query for a map based on a specification of which environment it describes. The following approach has been chosen in the RoboEarth context: |
* Hierarchical, symbolic description similar to human-readable addresses: Country, city, street, building, floor, room (described by room number or room type) | * Hierarchical, symbolic description similar to human-readable addresses: Country, city, street, building, floor, room (described by room number or room type) |
* These upper-level categories are described as instances (e.g. Munich as instance of City) which are linked by the transitive properPhysicalParts-relation | * These upper-level categories are described as instances (e.g. Munich as instance of City) which are linked by the transitive properPhysicalParts-relation. This effectively extends the hierarchical structure intrinsic of semantic maps (map -> objects -> object parts). |
* This allows to query based on a conjunction of class restrictions, e.g. for a room 3006 in a building in Karlstrasse in Munich. | * The representation allows to query based on a conjunction of class restrictions, e.g. for a room 3006 in a building in Karlstrasse in Munich. |
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{{ :map-representations.png?nolink& |}} | {{ :map-representations.png?nolink& |}} |
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There can be multiple maps describing the same environment in different ways, for example a 2D occupancy grid, used e.g. for laser-based localization, or a semantic environment map, consisting of object instances and their properties. These can all be assigned to the same room/floor/building, and the downloading robot can decide which one to use based on its properties and requirements. | There can be multiple maps describing the same environment in possibly different ways, for example a 2D occupancy grid, used e.g. for laser-based localization, or a semantic environment map, consisting of object instances and their properties. These can all be assigned to the same room/floor/building, and the downloading robot can decide which one to use based on its properties and requirements. |
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====== Objects in the map ====== | ====== Objects in the map ====== |
owl_has(R, knowrob:roomNumber, literal(type(_, '3001'))), | owl_has(R, knowrob:roomNumber, literal(type(_, '3001'))), |
owl_has(R, knowrob:describedInMap, Map). | owl_has(R, knowrob:describedInMap, Map). |
M = 'http://ias.cs.tum.edu/kb/ias_hospital_room.owl#Munich', | M = 'http://knowrob.org/kb/ias_hospital_room.owl#Munich', |
R = 'http://ias.cs.tum.edu/kb/ias_hospital_room.owl#Room7635', | R = 'http://knowrob.org/kb/ias_hospital_room.owl#Room7635', |
Map = 'http://ias.cs.tum.edu/kb/ias_hospital_room.owl#SemanticEnvironmentMap7635' | Map = 'http://knowrob.org/kb/ias_hospital_room.owl#SemanticEnvironmentMap7635' |
</code> | </code> |
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