Interactive mobile robots guiding visitors in a university building

Stricker, Ronny; Müller, Steffen; Einhorn, E.; Schröter, Christof; Volkhardt, Michael; Debes, Klaus; Groß, Horst–Michael

doi:10.1109/roman.2012.6343832

Cited by 18 publications

(15 citation statements)

References 18 publications

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“…A multi mapping approach is presented by Stricker et al [11] for a mobile service robot that guides persons through a multi-story building. A metrical-topological map structure with multiple maps is used.…”

Section: A Related Workmentioning

confidence: 99%

Map Management Approach for SLAM in Large-Scale Indoor and Outdoor Areas

Ehlers

Stuede

Nuelle

et al. 2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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This work presents a map management approach for various environments by creating multiple maps with different SLAM (simultaneous localization and mapping) configurations. A modular map structure allows to add, modify or delete maps without influencing other maps of different areas. The hierarchy level of our algorithm is above the utilized SLAM method, since it is able to automatically trigger new maps (e.g. after the detection of passing a doorway). The appropriate SLAM configuration for the next map is chosen by evaluating laser scan data. Single independent maps are connected by link-points which are located in an overlapping zone of both maps, enabling global navigation over several maps. Loopclosures between maps are detected by an appearance-based method using feature matching and ICP registration between point clouds. The number of possible loop-closure locations is limited to the number of link-points. Based on the arrangement of maps and link-points, a topological graph is extracted for navigation purposes and tracking the global robot's position over several maps. Our approach is evaluated by mapping a university campus with multiple indoor and outdoor areas and abstracting a metrical-topological graph. It is also compared to a single map running with different SLAM configurations. Our approach enhances the overall map quality compared to the single map approaches by automatically choosing appropriate SLAM configurations for different environmental setups.

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Section: A Related Workmentioning

confidence: 99%

Map Management Approach for SLAM in Large-Scale Indoor and Outdoor Areas

Ehlers

Stuede

Nuelle

et al. 2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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“…To test the ability of our approach for long term operations in a bounded environment, we ran it for two days on one of our guide robots [25] that operate in our office building on a daily basis to autonomously guide and to tour visitors within the building. On a regular office day, when the robots typically operate for about 6 hours, each robot travels up to 4000 m.…”

Section: B Lifelong Operationmentioning

confidence: 99%

Generic 2D/3D SLAM with NDT maps for lifelong application

Einhorn

Groß

2013

2013 European Conference on Mobile Robots

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In this paper, we present a new, generic approach for Simultaneous Localization and Mapping (SLAM). First of all, we propose an abstraction of the underlying sensor data using Normal Distribution Transform (NDT) maps that are suitable for making our approach independent from the used sensor and the dimension of the generated maps. We present some modifications for the original NDT mapping to handle free-space measurements explicitly and to enable its usage in dynamic environments with moving obstacles and persons. In the second part of this paper we describe our graph-based SLAM approach that is designed for lifelong usage. Therefore, the memory and computational complexity is limited by pruning the pose graph in an appropriate way.

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“…For example, the SPENCER project aimed to develop a service robot that could help and guide passengers at an airport [1]. Stricker et al present an interactive mobile robot capable of speech synthesis to guide visitors in a university building [2]. Various works are concerned with controlling mobile robots via certain voice commands, eg.…”

Section: Introductionmentioning

confidence: 99%

Voice recognition and processing interface for an interactive guide robot in an university scenario

Stuede

Wilkening

Tappe

et al. 2019

2019 19th International Conference on Control, Automation and Systems (ICCAS)

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This paper presents a voice user interface consisting of several modules for a mobile service robot, which is used to guide people and provide information on a university campus. The recognition and processing system is based on cloud services to convert from speech to text and vice versa and a dialogue system to allow for natural interaction. An approach to combine these modules with a data management system for meal plan, public transit, and location information is presented. We evaluate the system in different environments, each with their individual reverberation times, proving the functionality under conditions typical for the intended use case. In a user study with 13 participants we show the usability of the system, by letting the participants freely interact with the robot. In 86 % of all cases the desired output can be achieved at least once per user and request. A questionnare shows that most users agree with a good usability of the system.

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Interactive mobile robots guiding visitors in a university building

Cited by 18 publications

References 18 publications

Map Management Approach for SLAM in Large-Scale Indoor and Outdoor Areas

Map Management Approach for SLAM in Large-Scale Indoor and Outdoor Areas

Generic 2D/3D SLAM with NDT maps for lifelong application

Voice recognition and processing interface for an interactive guide robot in an university scenario

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