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— An annotated data set is presented meant to help researchers in developing, evaluating and comparing various approaches in robotics for building space representations appropriate for communicating with humans. The data consists of omnidirectional images, laser range scans, sonar readings and robot odometry. A set of base-level human spatial concepts is(More)
Interacting with a domestic service robot implies the existence for a joint environment model for a user and a robot. We present a pilot study that investigates, how humans present a familiar environment to a mobile robot. Results from this study are used to evaluate a generic environment model for a service robot that can be personalised by interaction.
— 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(More)
— In this paper, we present an initial design of an interactive interface for a service robot based on multi sensor fusion. We show how the integration of speech, vision and laser range data can be performed using a high level of abstraction. Guided by a number of scenarios commonly used in a service robot framework, the experimental evaluation will show(More)
— In scenarios that require a close collaboration and knowledge transfer between inexperienced users and robots, the " learning by interacting " paradigm goes hand in hand with appropriate representations and learning methods. In this paper we discuss a mixed initiative strategy for robotic learning by interacting with a user in a joint map acquisition(More)
— Service robots designed for domestic settings need to navigate in an environment that they have to share with their users. Thus, they have to be able to report their current state and whereabouts in a way that is comprehensible for the user. Pure metric maps do not usually correspond to the understanding of the environment a user would provide. Thus, the(More)