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semantic_map_editor [2013/01/07 11:42] – created tenorthsemantic_map_editor [2014/06/05 11:38] (current) – external edit 127.0.0.1
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-= Semantic map editor = +#REDIRECT doc:semantic_map_editor
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-== Format of a Semantic Environment Map == +
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-Semantic maps form a structured, semantic environment representation that consists of a collection of objects that are described as instances of object classes in an ontology. Each object instance inherits the properties of its class (e.g. the refrigerator inherits the property ‘storage place for perishable items’, or the oven the property ‘can be used for heating food’). In addition, instance-specific properties like the weight of an object can be specified. +
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-There are two kinds of hierarchies related to the object representation: On the one hand, there is the specialization hierarchy of object classes that describes e.g. a Refrigerator as a specialization of ElectricalHouseholdAppliance as a specialization of ElectricalAppliance and Device. On the other hand, there is a component hierarchy (part-of hierarchy) that describes the composition of objects from parts, including the respective 6D poses of the components as well as articulated joints (prismatic and rotational). +
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-CAD models (COLLADA files, PLY, etc) can be attached to an object class or instance to describe its geometry in more detail (and to get nicer visualizations). +
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-The format in which the maps are described is the same OWL language that is also used for action recipes — though of course using different classes. This allows joint inference about actions and objects, for example to query for all objects that are part of a recipe in order to check if the robot has an object recognition model for each of them, or to check if the positions of all objects in the recipe are known, i.e. if there is an instance of the respective class. +
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-== Related publications == +
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-* [http://ias.cs.tum.edu/_media/spezial/bib/iros12semantic_mapping.pdf Semantic Object Maps for Robotic Housework - Representation, Acquisition and Use] (Dejan Pangercic, Moritz Tenorth, Benjamin Pitzer, Michael Beetz), In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.  +
-* [http://ias.cs.tum.edu/_media/spezial/bib/tenorth10envmodel.pdf KNOWROB-MAP — Knowledge-Linked Semantic Object Maps] (Moritz Tenorth, Lars Kunze, Dominik Jain, Michael Beetz), In 10th IEEE-RAS International Conference on Humanoid Robots, 2010. +
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-== Graphical editor for semantic maps == +
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-The environment map editor is an extended version of the Semantic Map Editor of the KnowRob package. It allows to create and modify object instances, to move them around and change their orientation by specifying a quaternion, a 4x4 rotation matrix, or using the buttons that rotate objects by 90 degrees around one axis. +
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-More documentation on its usage and a short tutorial explaining how to create a semantic map can be found here: [http://ias.in.tum.de/kb/wiki/index.php/Mod_semantic_map http://ias.in.tum.de/kb/wiki/index.php/Mod_semantic_map] +
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-[[Image:unr-teleop-map-editor.png|700px]] +
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-== RoboEarth integration == +
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-The functionality of the semantic map editor has been complemented with an interface to search for environment maps in RoboEarth and to load and export maps from and to RoboEarth. The button “Load map from RoboEarth” opens the dialog shown below. Maps are indexed by their address, floor and room number and can be searched by any combination of this. Once changes have been made, the updated map can be uploaded to RoboEarth using the “Save map to RoboEarth” button. +
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-[[Image:roboearth-map-search.png|400px]]+