The Spatial Semantic Hierarchy
نویسندگان
چکیده
منابع مشابه
The Spatial Semantic Hierarchy
The Spatial Semantic Hierarchy is a model of knowledge of large-scale space consisting of multiple interacting representations, both qualitative and quantitative. The SSH is inspired by the properties of the human cognitive map, and is intended to serve both as a model of the human cognitive map and as a method for robot exploration and map-building. The multiple levels of the SSH express state...
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Developing an autonomous intelligent vacuuming robot for household floors is not an easy task. The function of an autonomous vacuuming robot can be simply stated as to autonomously vacuum household floors while interacting appropriately with things one normally expects to find on floor such as furnitures, pets, trash, etc. However, underlying this simple job description are its numerous tough j...
متن کاملThe Spatial Semantic Hierarchy Implemented with an Omnidirectional Vision System
In this paper, we propose a new approach to the map building task: the implementation of the Spatial Semantic Hierarchy (SSH), proposed by B. Kuipers, on a real robot fitted with an omnidirectional camera. The original Kuiper’s formulation of the SSH was slightly modified, in order to manage in a more efficient way the knowledge the real robot collects while moving in the environment. The senso...
متن کاملTowards a formalization of the Spatial Semantic Hierarchy
The Spatial Semantic Hierarchy (SSH) comprises a set of distinct representations of space, each with its own ontology, each with its own mathematical foundation, and each abstracted from the levels below it. In particular, the SSH topological level is abstracted from the SSH causal level. The method used to abstract the SSH topological level has usually been dened as an abduction task, describe...
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This paper reports the new steps undertaken in our work aimed to demonstrate the effectiveness of an omnidirectional vision sensor when conjugated with the Spatial Semantic Hierarchy. The Spatial Semantic Hierarchy was proposed by Benjamin Kuipers as a method for map building with robots. In our work, a robot builds a topological map of an unknown environment, using the Spatial Semantic Hierarc...
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ژورنال
عنوان ژورنال: Artificial Intelligence
سال: 2000
ISSN: 0004-3702
DOI: 10.1016/s0004-3702(00)00017-5