Abstract
Robots that are launched in the consumer market need to provide more effective human robot interaction, and, in particular, spoken language interfaces. However, in order to support the execution of high level commands as they are specified in natural language, a semantic map is required. Such a map is a representation that enables the robot to ground the commands into the actual places and objects located in the environment. In this paper, we present the experimental evaluation of a system specifically designed to build semantically rich maps, through the interaction with the user. The results of the experiments not only provide the basis for a discussion of the features of the proposed approach, but also highlight the manifold issues that arise in the evaluation of semantic mapping.
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Acknowledgments
We would like to thank Joachim Hertzberg for insightful discussions on the experimental evaluation of semantic mapping. Moreover, we acknowledge the contribution of Emanuele Bastianelli and Taigo M. Bonnani to the implementation of the system. This work is part of the activities in the RoCKIn Coordination Action\(^{4}\), which is focussing on benchmarking of home robots through competitions.
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Gemignani, G., Nardi, D., Bloisi, D.D., Capobianco, R., Iocchi, L. (2016). Interactive Semantic Mapping: Experimental Evaluation. In: Hsieh, M., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 109. Springer, Cham. https://doi.org/10.1007/978-3-319-23778-7_23
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DOI: https://doi.org/10.1007/978-3-319-23778-7_23
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