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Cognition and perception forms a central basis for human intelligent behaviour. Humans are capable of building their own environment and adding several artefacts to it. It allows us to detect and localize objects, and based on that to perform tasks or to localize ourselves and furthermore to find persons who work e.g. in offices. Every year, since the last two decades, people have been forecasting breakthroughs of services robots on the service robot market (Siegwart et al., 200, Haegle et al. 2001). Nevertheless the reality is grey. Two of several reasons are a relatively high price and an unintelligent behaviour of the robot systems. At this point the contribution of this chapter starts. We will present a novel approach, on how a mobile robot actively creates a geometric 3D cognitive map with ROS1 and consumer hardware, which forms a basis for further intelligent behaviours.

Reading Mobile Robots and 3D Cognitive Mapping