SEMAP -- A Semantic Environment Mapping Framework


This paper presents the SEMAP framework designed to maintain and analyze the spatial data of a multi-modal 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.

Proc. 7th European Conference on Mobile Robotics, Lincoln, UK