Loading [MathJax]/extensions/MathZoom.js
An object-based semantic world model for long-term change detection and semantic querying | IEEE Conference Publication | IEEE Xplore

An object-based semantic world model for long-term change detection and semantic querying


Abstract:

Recent years have seen rising interest in robotic mapping algorithms that operate at the level of objects, rather than two- or three-dimensional occupancy. Such “semantic...Show More

Abstract:

Recent years have seen rising interest in robotic mapping algorithms that operate at the level of objects, rather than two- or three-dimensional occupancy. Such “semantic maps” permit higher-level reasoning than occupancy maps, and are useful for any application that involves dealing with objects, including grasping, change detection, and object search. We describe and experimentally verify such a system aboard a mobile robot equipped with a Microsoft Kinect RGB-D sensor. Our representation is object-based, and makes uniquely weak assumptions about the quality of the perceptual data available; in particular, we perform no explicit object recognition. This allows our system to operate in large, dynamic, and uncon-strained environments, where modeling every object that occurs (or might occur) is impractical. Our dataset, which is publicly available, consists of 67 autonomous runs of our robot over a six-week period in a roughly 1600m2 office environment. We demonstrate two applications built on our system: semantic querying and change detection.
Date of Conference: 07-12 October 2012
Date Added to IEEE Xplore: 20 December 2012
ISBN Information:

ISSN Information:

Conference Location: Vilamoura-Algarve, Portugal

References

References is not available for this document.