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doc:environment_map_meta_information [2014/06/05 11:38] – external edit 127.0.0.1doc: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.
  
 {{ :map-representations.png?nolink& |}} {{ :map-representations.png?nolink& |}}
  
-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. 
 + 
  
 ======  Objects in the map  ====== ======  Objects in the map  ======
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     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>