{"type":"ScholarlyArticle","title":"Making Cognitive Map of Outdoor Environment","authors":[{"name":"Saburo Tsuji","slug":"saburo-tsuji","given":"Saburo","family":"Tsuji","affiliation":""},{"name":"Shigang Li","slug":"shigang-li","given":"Shigang","family":"Li","affiliation":""}],"abstract":"Exploring an unknown environment and making its model is a key issue for realizing an intelligent robot . This paper presents a framework for representing an outdoor environment along a rout e as a Cognitive Map. Continuous views by a moving robot are transformed into a pathcentered 2(1/2)D scene rep resentation, ca lled Panoramic Repres e ntation, which the cognitive mapping process tak es as input . Range databased analysis of the Panoramzc R epresen tation , segments th e viewed scene into ground and each object standing upon it. The objects are then arranged into a structure map which provides robust qualitativ e information on th e environment structure. Although rang e data in the 2( 1/2)D re presentation are non-prec is e and vary with th e camera speed and orientation, the spatial relations and relative sizes of the objects are invariant. The Cognitive Map is desc ribed qualitatively in terms of places along the rout e and landmarks found as distinctive objects in eac h place . When the robot mov es along the same rout e, the Cognitive Map guides the navigation; the robot can reliably match the memorized landmarks against objects appearing in its sight.","doi":null,"url":"https://ijcai.org/proceedings/1993/226","pdf":"https://ijcai.org/proceedings/1993/0226.pdf","markdown":"https://ijcai.org/proceedings/1993/226.md","bibtex":"https://ijcai.org/proceedings/1993/bibtex/226","volume":{"slug":"1993","title":"Proceedings of the Thirteenth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1993","url":"https://ijcai.org/proceedings/1993/","year":1993,"location":"Chambéry, France","dates":"","editors":"Ruzena Bajcsy","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Robotics and Vision","track":"Robotics and Vision","number":226,"pages":{"first":1632,"last":1637},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}