Autonomous indoor robot navigation using a sketch interface for drawing maps and routes
Federico Boniardi, Abhinav Valada, Wolfram Burgard, Gian Diego Tipaldi
Abstract
Hand-Drawn sketches are natural means by which abstract descriptions of environments can be provided. They represent weak prior information about the scene, thereby enabling a robot to perform autonomous navigation and exploration when a full metrical description of the environment is not available beforehand. In this paper, we present an extensive evaluation of our navigation system that uses a sketch interface to allow the operator of a robot to draw a rough map of an indoor environment as well as a desired trajectory for the robot to follow. We employ a theoretical framework for sketch interpretation, in which associations between the sketch and the real world are modeled as local deformations of a suitable metric manifold. We investigate the effectiveness of our system and present empirical results from a set of experiments in real-world scenarios, focusing both on the navigation capabilities and the usability of the interface.
BibTeX
@inproceedings{icra2016_autonomousindoor,
title = {Autonomous indoor robot navigation using a sketch interface for drawing maps and routes},
author = {Federico Boniardi and Abhinav Valada and Wolfram Burgard and Gian Diego Tipaldi},
booktitle = {ICRA 2016},
year = {2016}
}