Semantic Object Maps for Household Tasks

We present the representation and acquisition of semantic objects maps (SOMs) that can serve as information resources for autonomous service robots performing everyday manipulation tasks in kitchen environments. These maps provide the robot with information about its operation environment that enable it to perform fetch and place tasks more efficiently and reliably. To this end, the semantic object maps can answer queries such as the following ones: “What do parts of the kitchen look like?”, “How can a container be opened and closed?”, “Where do objects of daily use belong?”, “What is inside of cupboards/drawers?”, etc.