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 MoreMetadata
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:
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Change Detection ,
- Semantic Queries ,
- Long-term Change Detection ,
- Dynamic Environment ,
- Object Recognition ,
- Mobile Robot ,
- Semantic Map ,
- Weak Assumptions ,
- Perception Data ,
- Semantic Change ,
- Unconstrained Environment ,
- Point Cloud ,
- RGB Images ,
- Supplementary Video ,
- Convex Hull ,
- Object Segmentation ,
- Object Identification ,
- Semantic Labels ,
- Close Range ,
- Set Of Planes ,
- Shape Estimation ,
- Candidate Points ,
- Candidate Objects ,
- Semantic Data ,
- Distinct Objects ,
- Object Database
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Change Detection ,
- Semantic Queries ,
- Long-term Change Detection ,
- Dynamic Environment ,
- Object Recognition ,
- Mobile Robot ,
- Semantic Map ,
- Weak Assumptions ,
- Perception Data ,
- Semantic Change ,
- Unconstrained Environment ,
- Point Cloud ,
- RGB Images ,
- Supplementary Video ,
- Convex Hull ,
- Object Segmentation ,
- Object Identification ,
- Semantic Labels ,
- Close Range ,
- Set Of Planes ,
- Shape Estimation ,
- Candidate Points ,
- Candidate Objects ,
- Semantic Data ,
- Distinct Objects ,
- Object Database