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environment_map_meta_information [2012/12/01 15:01] – tenorthenvironment_map_meta_information [2012/12/01 15:02] – [Objects in the map] tenorth
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 ====== Meta-information about environment maps ====== ====== Meta-information about environment maps ======
 +~~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: 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:
   * 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)
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 ======  Objects in the map  ====== ======  Objects in the map  ======
-The objects in the map are represented using the general [[Modeling_perceived_or_inferred_objects|spatio-temporal object pose representation]] used in KnowRob. This allows to incorporate more current information about the objects, e.g. updated poses, transparently by just storing the novel detections.+The objects in the map are represented using the general spatio-temporal [[object pose representation]] used in KnowRob. This allows to incorporate more current information about the objects, e.g. updated poses, transparently by just storing the novel detections.
  
 Articulation information is stored as a property of the respective objects. The relation between an object's parts (e.g. the frame of a cupboard and its door) is explicitly described using OWL properties, and articulation properties like joint limits are attached to the hinge. The representation is compatible to the description of joints in the ROS [[http://www.ros.org/wiki/articulation| articulation stack]]. Articulation information is stored as a property of the respective objects. The relation between an object's parts (e.g. the frame of a cupboard and its door) is explicitly described using OWL properties, and articulation properties like joint limits are attached to the hinge. The representation is compatible to the description of joints in the ROS [[http://www.ros.org/wiki/articulation| articulation stack]].
  
-=====  Rotational joints  =====+======  Rotational joints  ======
  
 The general structure for rotational joints is the following: The general structure for rotational joints is the following:
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 The rotation happens around the z-axis of the joint, described by the pose matrix observed by TouchPerception11 (the tactile estimation of the joint parameters). The rotation happens around the z-axis of the joint, described by the pose matrix observed by TouchPerception11 (the tactile estimation of the joint parameters).
  
-=====  Prismatic joints  =====+======  Prismatic joints  ======
  
 Prismatic joints are described in a similar way, though the parameters are obviously slightly different from rotational joints: Prismatic joints are described in a similar way, though the parameters are obviously slightly different from rotational joints: