Vision-based urban navigation procedures for verbally instructed robots

When humans explain a task to be executed by a robot they decompose it into chunks of actions. These form a chain of search-and-act sensory-motor loops that exit when a condition is met. In this paper we investigate the nature of these chunks in an urban visual navigation context, and propose a method for implementing the corresponding robot primitives such as “take the nth turn right/left”. These primitives make use of a “short-lived” internal map updated as the robot moves along. The recognition and localisation of intersections is done in the map using task-guided template matching. This approach takes advantage of the content of human instructions to save computation time and improve robustness.