000032798 001__ 32798 000032798 005__ 20210121082901.0 000032798 0247_ $$2doi$$a10.1109/TASE.2014.2377791 000032798 0248_ $$2sideral$$a90477 000032798 037__ $$aART-2015-90477 000032798 041__ $$aeng 000032798 100__ $$0(orcid)0000-0002-6722-5541$$aRiazuelo, L. 000032798 245__ $$aRoboEarth Semantic Mapping: A Cloud Enabled Knowledge-Based Approach 000032798 260__ $$c2015 000032798 5060_ $$aAccess copy available to the general public$$fUnrestricted 000032798 5203_ $$aThe vision of the RoboEarth project is to design a knowledge-based system to provide web and cloud services that can transform a simple robot into an intelligent one. In this work, we describe the RoboEarth semantic mapping system. The semantic map is composed of: 1) an ontology to code the concepts and relations in maps and objects and 2) a SLAM map providing the scene geometry and the object locations with respect to the robot. We propose to ground the terminological knowledge in the robot perceptions by means of the SLAM map of objects. RoboEarth boosts mapping by providing: 1) a subdatabase of object models relevant for the task at hand, obtained by semantic reasoning, which improves recognition by reducing computation and the false positive rate; 2) the sharing of semantic maps between robots; and 3) software as a service to externalize in the cloud the more intensive mapping computations, while meeting the mandatory hard real time constraints of the robot. To demonstrate the RoboEarth cloud mapping system, we investigate two action recipes that embody semantic map building in a simple mobile robot. The first recipe enables semantic map building for a novel environment while exploiting available prior information about the environment. The second recipe searches for a novel object, with the efficiency boosted thanks to the reasoning on a semantically annotated map. Our experimental results demonstrate that, by using RoboEarth cloud services, a simple robot can reliably and efficiently build the semantic maps needed to perform its quotidian tasks. In addition, we show the synergetic relation of the SLAM map of objects that grounds the terminological knowledge coded in the ontology. 000032798 536__ $$9info:eu-repo/grantAgreement/ES/MINECO/DPI2012-32168$$9info:eu-repo/grantAgreement/ES/MINECO/DPI2012-32100$$9info:eu-repo/grantAgreement/EC/FP7/288533/EU/Web-enabled and Experience-based Cognitive Robots that Learn Complex Everyday Manipulation Tasks/ROBOHOW.COG$$9info:eu-repo/grantAgreement/EC/FP7/248942/EU/RoboEarth: robots sharing a knowledge base for world modelling and learning of actions/RoboEarth 000032798 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000032798 590__ $$a2.696$$b2015 000032798 591__ $$aAUTOMATION & CONTROL SYSTEMS$$b8 / 59 = 0.136$$c2015$$dQ1$$eT1 000032798 592__ $$a1.558$$b2015 000032798 593__ $$aElectrical and Electronic Engineering$$c2015$$dQ1 000032798 593__ $$aControl and Systems Engineering$$c2015$$dQ1 000032798 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000032798 700__ $$aTenorth, M. 000032798 700__ $$aDi Marco, D. 000032798 700__ $$0(orcid)0000-0001-8026-4388$$aSalas, M. 000032798 700__ $$0(orcid)0000-0003-0225-7689$$aGálvez-López, D. 000032798 700__ $$aMösenlechner, L. 000032798 700__ $$aKunze, L. 000032798 700__ $$aBeetz, M. 000032798 700__ $$0(orcid)0000-0002-4518-5876$$aTardós, J.D.$$uUniversidad de Zaragoza 000032798 700__ $$0(orcid)0000-0002-0449-2300$$aMontano, L.$$uUniversidad de Zaragoza 000032798 700__ $$0(orcid)0000-0002-3627-7306$$aMartínez Montiel, J.M.$$uUniversidad de Zaragoza 000032798 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000032798 773__ $$g12, 2 (2015), 432-443$$pIEEE Trans. Autom. Sci. Eng.$$tIEEE Transactions on Automation Science and Engineering$$x1545-5955 000032798 8564_ $$s3878418$$uhttps://zaguan.unizar.es/record/32798/files/texto_completo.pdf$$yPostprint 000032798 8564_ $$s144641$$uhttps://zaguan.unizar.es/record/32798/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000032798 909CO $$ooai:zaguan.unizar.es:32798$$particulos$$pdriver 000032798 951__ $$a2021-01-21-08:16:06 000032798 980__ $$aARTICLE