On-line semantic mapping

Human Robot Interaction is a key enabling feature to support the introduction of robots in everyday environments. However, robots are currently incapable of building representations of the environments that allow both for the execution of complex tasks and for an easy interaction with the user requesting them. In this paper, we focus on semantic mapping, namely the problem of building a representation of the environment that combines metric and symbolic information about the elements of the environment and the objects therein. Specifically, we extend previous approaches, by enabling on-line semantic mapping, that permits to add to the representation elements acquired through a long term interaction with the user. The proposed approach has been experimentally validated on different kinds of environments, several users, and multiple robotic platforms.