Moving from augmented to interactive mapping

Recently1 there has been a growing interest in human augmented mapping[1, 2]. That is: a mobile robot builds a low level spatial representation of the environment based on its sensor readings while a human provides labels for human concepts, such as rooms, which are then augmented or anchored to this representation or map [3]. Given such an augmented map the robot has the ability to communicate with the human about spatial concepts using the labels that the human understand. For instance, the robot could report it is in the ”kitchen”, instead of a set Cartesian coordinates which are probably meaningless to the human