关键词：全面系统；3D对象映射；机器人；碰撞检测
摘 要：This chapter presented a comprehensive system for the acquisition of hybrid Semantic 3D Object Maps for kitchen environments. The proposed mapping system includes 2 components, namely: i) a Static Functional Map which contains those parts of the environment with fixed positions and utilitarian functions (walls, floor, kitchen appliances, cupboards, tables, etc); and ii) a Triangulated Surface Map created using decoupled triangular meshes. The former is built either by employing a set of commonsense heuristic rules on the data or by classifying a set of planar regions using simple 3D geometric features, and serves as a semantic resource for an assistant mobile personal robot, while the latter supports 3D collision detection and path planning routines for safe navigation and manipulation.