A survey of semantic mapping for mobile robots

Ioannis Kostavelis, Antonios Gasteratos, 2015, Semantic mapping for mobile robotics tasks: A survey, Robotics and Autonomous Systems, Volume 66, April 2015, Pages 86-103, ISSN 0921-8890, DOI: 10.1016/j.robot.2014.12.006.

The evolution of contemporary mobile robotics has given thrust to a series of additional conjunct technologies. Of such is the semantic mapping, which provides an abstraction of space and a means for human\u2013robot communication. The recent introduction and evolution of semantic mapping motivated this survey, in which an explicit analysis of the existing methods is sought. The several algorithms are categorized according to their primary characteristics, namely scalability, inference model, temporal coherence and topological map usage. The applications involving semantic maps are also outlined in the work at hand, emphasizing on human interaction, knowledge representation and planning. The existence of publicly available validation datasets and benchmarking, suitable for the evaluation of semantic mapping techniques is also discussed in detail. Last, an attempt to address open issues and questions is also made.

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