Database for the model of the operating environment of a service robot

The paper describes a Database for the 2.5 D model of the operating environment of a mobile robot based on the concept of Ortoframes. This paper introduces the structure of the main Database elements, including tables, table fields, links between tables. In accordance with the model architecture of the operating environment the main sections of the Database contain information about all model elements: Ortoframes, Objects, Rooms, Fragments, Maps, Domains and Doors. The paper describes the purpose of each table field of a Database containing geometric, topological and semantic information, and fields that define the relationships between tables within sections and between sections of the Database.