Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Hypermap Mapping Framework and its Application to Autonomous Semantic
  Exploration   Modern intelligent and autonomous robotic applications often require robots
to have more information about their environment than that provided by
traditional occupancy grid maps. For example, a robot tasked to perform
autonomous semantic exploration has to label objects in the environment it is
traversing while autonomously navigating. To solve this task the robot needs to
at least maintain an occupancy map of the environment for navigation, an
exploration map keeping track of which areas have already been visited, and a
semantic map where locations and labels of objects in the environment are
recorded. As the number of maps required grows, an application has to know and
handle different map representations, which can be a burden.
  We present the Hypermap framework, which can manage multiple maps of
different types. In this work, we explore the capabilities of the framework to
handle occupancy grid layers and semantic polygonal layers, but the framework
can be extended with new layer types in the future. Additionally, we present an
algorithm to automatically generate semantic layers from RGB-D images. We
demonstrate the utility of the framework using the example of autonomous
exploration for semantic mapping.

15
The categories of this paper are: nucl-ex
33
The categories of this paper are: plasm-ph
5
The categories of this paper are: gr-qc
11
The categories of this paper are: hep-lat
36
The categories of this paper are: cmp-lg
17
The categories of this paper are: q-fin
32
The categories of this paper are: atom-ph
12
The categories of this paper are: nucl-th
29
The categories of this paper are: funct-an
21
The categories of this paper are: adap-org
34
The categories of this paper are: chem-ph
22
The categories of this paper are: chao-dyn
7
The categories of this paper are: hep-th
23
The categories of this paper are: solv-int
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The categories of this paper are: bayes-an
0
The categories of this paper are: hep-ph