@inproceedings{cececdcca1d14fd58372a456b43a13c7,
title = "Object-aware hybrid map for indoor robot visual semantic navigation",
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.",
keywords = "3D object detection, Hybrid map, Robot semantic navigation",
author = "Li Wang and Ruifeng Li and Jingwen Sun and Lijun Zhao and Hezi Shi and Seah, \{Hock Soon\} and Budianto Tandianus",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 ; Conference date: 06-12-2019 Through 08-12-2019",
year = "2019",
month = dec,
doi = "10.1109/ROBIO49542.2019.8961495",
language = "English",
series = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1166--1172",
booktitle = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2019",
address = "United States",
}