Object-aware hybrid map for indoor robot visual semantic navigation

Li Wang, Ruifeng Li, Jingwen Sun, Lijun Zhao, Hezi Shi, Hock Soon Seah, Budianto Tandianus

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Citations (Scopus)

Abstract

In order to achieve an intuitive interaction and visual semantic navigation for the indoor robot, we propose a novel object-aware hybrid map. The existing map is usually a metric map, lacking semantics for interaction. We combine objects in the indoor environment with the metric map to constitute a hybrid map. The map consists of a 3D object semantic map and a 2D occupancy grid map, which transfers human commands to the grid map through object semantics, thereby enabling autonomous navigation for the robot. We utilize ORB-SLAM2 for continuous pose estimation and 3D mapping. 2D object detection in key-frames is conducted based on YOLO v3. The object point clouds in multiple perspectives are merged and a 3D bounding box of the object is estimated. These objects construct a 3D semantic map. Furthermore, we project a 3D point cloud map into a 2D plane in order to get an occupancy grid map. Finally, these two maps are combined forming an object-aware hybrid map. We conduct experiments in real environments in order to verify the feasibility and robustness of the hybrid map for robot semantic navigation.

Original languageEnglish
Title of host publicationIEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1166-1172
Number of pages7
ISBN (Electronic)9781728163215
DOIs
Publication statusPublished - Dec 2019
Externally publishedYes
Event2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, China
Duration: 6 Dec 20198 Dec 2019

Publication series

NameIEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Conference

Conference2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Country/TerritoryChina
CityDali
Period6/12/198/12/19

Keywords

  • 3D object detection
  • Hybrid map
  • Robot semantic navigation

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