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| environment_map_meta_information [2012/12/01 15:01] – tenorth | environment_map_meta_information [2013/02/12 17:41] – external edit 127.0.0.1 |
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| ====== Objects in the map ====== | ====== Objects in the map ====== |
| The objects in the map are represented using the general [[Modeling_perceived_or_inferred_objects|spatio-temporal object pose representation]] used in KnowRob. This allows to incorporate more current information about the objects, e.g. updated poses, transparently by just storing the novel detections. | The objects in the map are represented using the general spatio-temporal [[object pose representation]] used in KnowRob. This allows to incorporate more current information about the objects, e.g. updated poses, transparently by just storing the novel detections. |
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| Articulation information is stored as a property of the respective objects. The relation between an object's parts (e.g. the frame of a cupboard and its door) is explicitly described using OWL properties, and articulation properties like joint limits are attached to the hinge. The representation is compatible to the description of joints in the ROS [[http://www.ros.org/wiki/articulation| articulation stack]]. | Articulation information is stored as a property of the respective objects. The relation between an object's parts (e.g. the frame of a cupboard and its door) is explicitly described using OWL properties, and articulation properties like joint limits are attached to the hinge. The representation is compatible to the description of joints in the ROS [[http://www.ros.org/wiki/articulation| articulation stack]]. |
