SEMAP - A Semantic Environment Mapping Framework

Henning Deeken, Thomas Wiemann, Kai Lingemann, Joachim Hertzberg

In: Proceedings of the European Conference on Mobile Robots. European Conference on Mobile Robots (ECMR-15) September 2-4 Lincoln United Kingdom Pages 69-74 ISBN 978-1-4673-9164-1 IEEE Xplore 2015.


This paper presents the SEMAP framework designed to maintain and analyze the spatial data of a multimodal environment model. SEMAP uses a spatial database at its core to store metric data and link it to semantic descriptions via semantic annotation. Through in-built and custom-made spatial operators of a PostGIS database, we enable the spatial analysis of quantitative metric data, which we then use in the context of semantic mapping. We use SEMAP to query for task-specific sets of spatial and semantic data, to create semantically augmented metric navigation maps, and to extract implicit topological information from geometric data.


German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz