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Semantic Mapping with a Probabilistic Description Logic

2010; Springer Science+Business Media; Linguagem: Inglês

10.1007/978-3-642-16138-4_7

1611-3349

Rodrigo Bellizia Polastro, Fabiano Rogério Corrêa, Fábio Gagliardi Cozman, Jun Okamoto,

Logic, Reasoning, and Knowledge

Semantic mapping employs explicit labels to deal with sensor data in robotic mapping processes. In this paper we present a method for boosting performance of spatial mapping, through the use of a probabilistic ontology, expressed with a probabilistic description logic. Reasoning with this ontology allows segmentation and tagging of sensor data acquired by a robot during navigation; hence a robot can construct metric maps topologically. We report experiments with a real robot to validate our approach, thus moving closer to the goal of integrating mapping and semantic labeling processes.