Autonomous Semantic Mapping For Robots Performing Everyday Manipulation Tasks In Kitchen Environments

In this work we report about our efforts to equip service robots with the capability to acquire 3D semantic maps. The robot autonomously explores indoor environments through the calculation of next best view poses, from which it assembles point clouds containing spatial and registered visual information. We apply various segmentation methods in order to generate initial hypotheses for furniture drawers and doors. The acquisition of the final semantic map makes use of the robot's proprioceptive capabilities and is carried out through the robot's interaction with the environment. We evaluated the proposed integrated approach in the real kitchen in our laboratory by measuring the quality of the generated map in terms of the map's applicability for the task at hand (e. g. resolving counter candidates by our knowledge processing system).