Human Augmented Mapping - A Pilot Study
Elin Anna Topp and Helge Hüttenrauch
School of Computer Science and Communication,
Royal Institute of Technology (KTH),
SE-10044 Stockholm, Sweden
topp@csc.kth.se, hehu@csc.kth.se
Abstract
Human interaction with a service robot requires a shared representation of the
environment for spoken dialogue and task specification where names
used for particular
locations are depending on personal preferences. A question is how such
human oriented models can be tied to the geometric robotic models
needed for precise
localisation and navigation. We assume that this integration can be based on
the information potential users give to a service robot about its working environment.
We further believe that this information is best given in an interactive setting
(a "guided tour") in this particular environment. This report presents a pilot study
that investigates how humans present a familiar environment to a mobile robot. The
study is set up within our concept of Human Augmented Mapping, for
which we assume an initial "guided tour" scenario to teach a robot its environment. Results
from this pilot study are used to evaluate a proposed generic
environment model for
a service robot.