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| QR Code Based Semantic Map Building in Domestic Semi-Unknown Environment |
| WU Hao,TIAN Guo-Hui,XUE Ying-Hua,ZHANG Tao-Tao |
| School of Control Science and Engineering,Shandong University,Jinan 250061 |
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Abstract Aiming at robot special service tasks and man-machine interaction in a home environment, a semantic room map of semi-unknown environment is built using QR code based self-similar artificial object mark plastered on large objects. First, a topology map with the function of room segmentation is built based on spectral clustering algorithms. Then object information database and adscription relationship map are set up based on object information stored in the QR code. Finally, a semantic map including object information description, room functional information and attributive relation between room and object is formed, which gives complete and anthropopathic information for object location, object management and robotic service in a home environment. The simulation results show that the service robot using semantic map can understand human semantic statement, produce reasonable service path and achieve function-driving navigation.
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Received: 04 May 2009
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2010, Vol. 23 
