Conference Paper Mapping Landmarks in Structured Indoor Environments by using RDF data models and SPARQL engine based navigation

セロンロペス, アルトゥーロエドゥアルド  ,  CeronLopez, ArturoEduardo  ,  HernandezReyes, CesarAugusto  ,  PonceQuiroga, CarlosW.  ,  LopezDeLaFuente, MarthaS.  ,  福島, E. 文彦  ,  FUKUSHIMA, EDWARDO FUMIHIKO

This work proposes a method for mapping landmarks within structured indoor environments to enable robots to understand its surroundings and move through them. A new approach based on the RDF, which simplifies the implementation of the knowledge database system, is introduced and a navigation algorithm is derived from a SPARQL engine. The total navigation system was implemented, tested and validated using OpenRTM-aist, voice operated commands, and the V-REP simulator.

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