A positioning ontology for C-SLAM

Abstract

Using ontologies it is possible to exchange information formally and precisely. In the domain of simultaneous localization and mapping, where a robot has to determine his location while he maps an unknown environment, different devices, that use different techniques to map the ambient, can communicate using ontologies and thus cooperate. This work presents an ontology based approach that enables this cooperation to happen. This is done extending existing ontological spatial representations and introducing a very adaptable software framework for representing spatial primitives and performing spatial reasoning.