Semantic topological map building with object semantic grid map

被引：0
|
作者：
Qi X.-Y. [1 ]
Wang W. [2 ]
Wang L. [1 ]
Zhao Y.-F. [1 ]
Dong Y.-P. [1 ]
机构：
[1] Beijing Institute of Mechanical Equipment, Beijing
[2] School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing
来源：
Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2023年 / 53卷 / 02期
关键词：
computer application; mobile robots; room concept generation; room segmentation; semantic topological map;
D O I：
10.13229/j.cnki.jdxbgxb20210623
中图分类号：
学科分类号：
摘要：
To construct a topological map with rooms as nodes and based on the object semantic grid map，this paper proposes a topological segmentation method with virtual door detection and a room generation method based on the inclusion relationship of rooms and objects. Firstly，detect the occupied grids that meet the width of the actual doors，then use geometric shapes and object semantics to optimize the detection results，and finally employ the objects contained in the topological nodes to generate the room concepts. Through testing in multiple scenarios，the effectiveness of the algorithm is verified. © 2023 Editorial Board of Jilin University. All rights reserved.
引用
收藏
页码：569 / 575
页数：6
相关论文
共 14 条
  • [1] Qi X, Wang W, Guo L, Et al., Building a Plutchik's wheel inspired affective model for social robots, Journal of Bionic Engineering, 16, 2, pp. 209-221, (2019)
  • [2] Li Jia-fei, Sun Xiao-yu, Clustering method for uncertain data based on spectral decomposition, Journal of Jilin University (Engineering and Technology Edition), 47, 5, pp. 1604-1611, (2017)
  • [3] Bormann R, Jordan F, Li W, Et al., Room segmentation: survey, implementation, and analysis, IEEE International Conference on Robotics and Automation, pp. 1019-1026, (2016)
  • [4] Pronobis A, Jensfelt P., Large-scale semantic mapping and reasoning with heterogeneous modalities [C], IEEE International Conference on Robotics and Automation, pp. 3515-3522, (2012)
  • [5] Zender H, Martinez M O, Jensfelt P, Et al., Conceptual spatial representations for indoor mobile robots [J], Robotics and Autonomous Systems, 56, 6, pp. 493-502, (2008)
  • [6] Joo K, Lee T K, Baek S, Et al., Generating topological map from occupancy grid-map using virtual door detection, IEEE Congress on Evolutionary Com putation, pp. 1-6, (2010)
  • [7] Qi Xi-yu, Wang Wei, Zhang Xiao-yu, Et al., Indoor topological map building with virtual door detection, Journal of Jilin University (Engineering and Technology Edition), 50, 3, pp. 258-264, (2020)
  • [8] Gemignani G, Capobianco R, Bastianelli E, Et al., Living with robots: interactive environmental knowledge acquisition, Robotics and Autonomous Systems, 78, pp. 1-16, (2016)
  • [9] Espinace P, Kollar T F, Soto A, Et al., Indoor scene recognition through object detection, IEEE International Conference on Robotics and Automation, pp. 1406-1413, (2010)
  • [10] Fernandez-Chaves D, Ruiz-Sarmiento J R, Petkov N, Et al., From object detection to room categorization in robotics, Proceedings of the 3rd International Conference on Applications of Intelligent Systems, pp. 1-6, (2020)
12