Interactive Visual Mapping

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Movie showing the integration of appearance based mapping and human robot interaction

The movie shows how a robot can benefit from human feedback while building a map of the environment. A topological map is build using images taken in a real home environment and comparing them pairwise. Room labels provided by a human guide are used to augment this map. By computing the map online while driving through the house the robot is able to ask for feedback from the human guide. This is done by reporting a room-label when the robot thinks it is re-entering a room. The guide is then able to correct this label which the robot uses to update its map.