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Publikation

SEMAP - A Semantic Environment Mapping Framework

Henning Deeken; Thomas Wiemann; Kai Lingemann; Joachim Hertzberg
In: Proceedings of the European Conference on Mobile Robots. European Conference on Mobile Robots (ECMR-15), September 2-4, Lincoln, United Kingdom, Pages 69-74, ISBN 978-1-4673-9164-1, IEEE Xplore, 2015.

Zusammenfassung

This paper presents the SEMAP framework designed to maintain and analyze the spatial data of a multimodal environment model. SEMAP uses a spatial database at its core to store metric data and link it to semantic descriptions via semantic annotation. Through in-built and custom-made spatial operators of a PostGIS database, we enable the spatial analysis of quantitative metric data, which we then use in the context of semantic mapping. We use SEMAP to query for task-specific sets of spatial and semantic data, to create semantically augmented metric navigation maps, and to extract implicit topological information from geometric data.

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