—Complex robotic tasks require the use of knowledge that cannot be aquired with the sensor repertoire of a mobile, autonomous robot alone. For robots navigating in urban environments, geospatial open data repositories such as OpenStreetMap provide a source for auch knowledge. We propose the integration of a 3D metric environment representation with the semantic knowledge from such a data base, and describe an application where road network information fromOpenStreetMapisusedtoimproveroadgeometry informationdeterminedfromlaserdata.Thisapproach is evaluated on a challenging data set of the Munich inner city.     «

—Complex robotic tasks require the use of knowledge that cannot be aquired with the sensor repertoire of a mobile, autonomous robot alone. For robots navigating in urban environments, geospatial open data repositories such as OpenStreetMap provide a source for auch knowledge. We propose the integration of a 3D metric environment representation with the semantic knowledge from such a data base, and describe an application where road network information fromOpenStreetMapisusedtoimproveroadgeometry...     »