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Abstract
Creating and maintaining an accurate representation of the environment is an essential capability for every service robot. Especially for household robots acting in indoor environments, semantic information is important. In this paper, we present a semantic mapping framework with modular map representations. Our system is capable of online mapping and object updating given object detections from RGB-D data and provides various 2D and 3D representations of the mapped objects. To undo wrong data associations, we perform a refinement step when updating object shapes. Furthermore, we maintain an existence likelihood for each object to deal with false positive and false negative detections and keep the map updated. Our mapping system is highly efficient and achieves a run time of more than 10 Hz. We evaluated our approach in various environments using two different robots, i.e., a Toyota HSR and a Fraunhofer Care-O-Bot-4. As the experimental results demonstrate, our system is able to generate maps that are close to the ground truth and outperforms an existing approach in terms of intersection over union, different distance metrics, and the number of correct object mappings.
Original language | English |
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Title of host publication | Proceedings of 10th European Conference on Mobile Robots, ECMR 2021 |
Publisher | IEEE |
ISBN (Electronic) | 9781665412131 |
DOIs | |
Publication status | Published - 22 Oct 2021 |
MoE publication type | A4 Article in a conference publication |
Event | European Conference on Mobile Robots - Virtual, online, Bonn, Germany Duration: 31 Aug 2021 → 3 Sep 2021 Conference number: 10 https://ecmr2021.org/ |
Conference
Conference | European Conference on Mobile Robots |
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Abbreviated title | ECMR |
Country/Territory | Germany |
City | Bonn |
Period | 31/08/2021 → 03/09/2021 |
Internet address |
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Dive into the research topics of 'Online object-oriented semantic mapping and map updating'. Together they form a unique fingerprint.Projects
- 1 Finished
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ROSE: Robots and the Future of Welfare Services
Kyrki, V., Lundell, J., Verdoja, F., Racca, M. & Brander, T.
01/01/2018 → 30/04/2021
Project: Academy of Finland: Strategic research funding