Abstract
One determinant of navigation concerns the ability to use landmarks. However, despite wide acceptance of the concept of landmarks, there is considerable debate as to what is meant by the term ‘landmark’ and how landmarks are used to assist in navigation. Sorrows and Hirtle [30] introduced a tripartite theory of landmarks that can be applied to navigation by humans in real and electronic spaces. Their approach was to classify landmarks along three dimensions: visual, semantic, and structural. These dimensions can be defined independently for navigation in physical space and for navigation in electronic spaces, such as the World Wide Web. It is argued in this paper, that the same framework can be extended to robot navigation, but with the realization of the dimensions appearing quite different in robotics world. The term landmark remains a fundamental concept of navigation and can provide a theoretical bridge between scientific camps of researchers.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Allen, G.L., Kirasic, K.C., Siegel, A.W., Herman, J.F.: Developmental issues in cognitive mapping: The selection and utilization of environmental landmarks. Child Development 56, 1062–1070 (1979)
Berendt, B., Brenstein, E.: Visualizing Individual Differences in Web Navigation: STRATDYN, a Tool for Analyzing Navigation Patterns. Behavior Research Methods. Instruments, Computers 33, 243–257 (2001)
Cheverst, K., Davies, N., Mitchell, K., Friday, A., Efstratiou, C.: Developing a context-aware electronic tourist guide: Some issues and experiences. In: Proceedings of CHI 2000, Netherlands (2000)
Elias, B.: Extracting landmarks with data mining methods. In: Kuhn, W., Worboys, M.F., Timpf, S. (eds.) COSIT 2003. LNCS, vol. 2825, pp. 375–389. Springer, Heidelberg (2003)
Franz, M.O., Schölkopf, B., Georg, P., Mallot, H.A., Bülthoff, H.H.: Learning view graphs for robot navigation. In: Johnson, W.L. (ed.) Proc. 1. Intl. Conf. on Autonomous Agents, pp. 138–147. ACM Press, New York (1997)
Glenn, B.T., Chignell, M.H.: Hypermedia: Design for browsing. In: Hartson, H.R., Hix, D. (eds.) Advances in Human-Computer Interaction, Ablex, Norwood,NJ (1992)
Golledge, R.G.: Human wayfinding and cognitive maps. In: Golledge, R.G. (ed.) Wayfinding behavior: Cognitive mapping and other spatial processes, pp. 5–45. Johns Hopkins Press, Baltimore, MD (1999)
Greiner, R., Isukapalli, R.: Learning to select useful landmarks. In: Proceedings of 1994 AAAI Conference, Menlo Park, CA, pp. 1251–1256. AAAI Press / MIT Press (1994)
Hertzberg, J., Kirchner, F.: Landmark-based autonomous navigation in sewerage pipes. In: Proceedings of the First Euromicro Workshop on Advanced Mobile Robots, pp. 68–73. IEEE Computer Society Press, Los Alamitos (1996)
Heth, C.D., Cornell, E.H., Alberts, D.M.: Differential use of landmarks by 8- and 12- year-old children during route reversal navigation. Journal of Environmental Psychology 17, 199–213 (1997)
Hirtle, S.C.: The use of maps, images and ”gestures” for navigation. In: Freksa, C., Brauer, W., Habel, C., Wender, K.F. (eds.) Spatial Cognition II: Integrating Abstract Theories, Empirical Studies, Formal Methods, and Practical Applications, pp. 31–40. Springer, Berlin (2000)
Klippel, A., Richter, K.F., Barkowsky, T., Freksa, C.: The cognitive reality of schematic maps. In: Meng, L., Zipf, A., Reichenbacher, T. (eds.) Map-based Mobile Services - Theories, Methods and Implementations, pp. 57–74. Springer, Berlin (2005)
Kuipers, B., Byun, Y.T.: A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations. Robotics and Autonomous Systems 8, 47–63 (1991)
Lynch, K.: The image of the city. MIT Press, Cambridge (1960)
Madsen, C.B., Andersen, C.S.: Optimal landmark selection for triangulation of robot position. Robotics and Autonomous Systems 23, 277–292 (1998)
Mark, D.M., Freksa, C., Hirtle, S.C., Lloyd, R., Tversky, B.: Cognitive models of geographical space. International Journal of Geographical Information Science 13, 747–774 (1999)
Moon, I., Miura, J., Shirai, Y.: On-line selection of stable visual landmarks under uncertainty. In: Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 781–786. IEEE Press, Piscataway, NJ (1999)
Mukherjea, S., Hara, Y.: Focus+context views of world-wide web nodes. In: Hypertext 1997: The Eighth ACM Conference on Hypertext, pp. 187–196. ACM Press, New York (1997)
Nolfi, S.: Evolving non-trivial behaviors on real robots: A garbage collecting robot. Robotics and Autonomous Systems 22, 187–198 (1997)
Nothegger, C., Winter, S., Raubal, M.: Selection of salient features for route directions. Spatial Cognition and Computation 4, 113–136 (2004)
PastergueRuiz, L., Beugnon, G., Lachaud, J.P.: Can the Ant Cataglyphis cursor (Hymenoptera: Formicidae) Encode Global Landmark-Landmark relationships in addition to isolated landmark-goal relationships? Journal of Insect Behavior 8, 115–132 (1995)
Portugali, J.: The i in gis. In: GIScience 2000, pp. 28–31. Savannah, Georgia, USA (2000)
Presson, C.C., Montello, D.R.: Points of reference in spatial cognition: Stalking the elusive landmark. British Journal of Developmental Psychology 6, 378–381 (1988)
Raubal, M., Winter, S.: Enriching wayfinding instructions with local landmarks. In: Egenhofer, M.J., Mark, D.M. (eds.) GIScience 2002. LNCS, vol. 2478, pp. 243–259. Springer, Heidelberg (2002)
Sadalla, E.K., Burroughs, W.J., Staplin, L.J.: Reference points in spatial cognition. Journal of Experimental Psychology: Human Learning and Memory 5, 516–528 (1980)
Scharstein, D., Briggs, A.: Real-time recognition of self-similar landmarks. Image and Vision Computing 19, 763–772 (2001)
Sim, R., Dudek, G.: Mobile robot localization from learned landmarks. In: IROS. Proceedings of IEEE/RSJ Conference on Intelligent Robots and Systems, Victoria, BC, vol. 2, pp. 1060–1065 (1998)
Simhon, S., Dudek, G.: Selecting targets for local reference frames. In: ICRA 1998. Proceedings of the IEEE International Conference on Robotics and Automation, vol. 4, pp. 2840–2845. IEEE Computer Society Press, Los Alamitos (1998)
Sorrows, M.E.: Recall of Landmarks in Information Space. PhD thesis, Doctoral Dissertation, University of Pittsburgh (2004)
Sorrows, M.E., Hirtle, S.C.: The nature of landmarks for real and electronic spaces. In: Freksa, C., Mark, D.M. (eds.) COSIT 1999. LNCS, vol. 1661, pp. 37–50. Springer, Heidelberg (1999)
Thrun, S.: Finding landmarks for mobile robot navigation. In: ICRA 1998. Proceedings of the IEEE International Conference on Robotics and Automation, vol. 2, pp. 958–963. IEEE Computer Society Press, Los Alamitos (1998)
Yeap, W.K.: Towards a Computational Theory of Cognitive Maps. Artificial Intelligence 34(3), 297–360 (1988)
Editor information
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Hirtle, S.C. (2007). Landmarks for Navigation in Human and Robots. In: Jefferies, M.E., Yeap, WK. (eds) Robotics and Cognitive Approaches to Spatial Mapping. Springer Tracts in Advanced Robotics, vol 38. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-75388-9_12
Download citation
DOI: https://doi.org/10.1007/978-3-540-75388-9_12
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-75386-5
Online ISBN: 978-3-540-75388-9
eBook Packages: EngineeringEngineering (R0)