Pronobis, Andrzej; Sjoo, Kristoffer; Aydemir, Alper; Bishop, Adrian; Jensfelt, Patric
Spatial knowledge constitutes a fundamental component of the knowledge base of a cognitive, mobile agent. This paper introduces a rigorously defined framework for building a cognitive spatial map that permits high level reasoning about space along with robust navigation and localization. Our framework builds on the concepts of places and scenes expressed in terms of arbitrary, possibly complex features as well as local spatial relations. The resulting map is topological and discrete,...[Show more]
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