Semantic map for service robot navigation based on ROS

Jianhua Zhang; Wei He; Aidi Zhao; Lin Zhang; Qi Feng; Youjie Zhou

doi:10.1117/12.2550936

31 January 2020 Semantic map for service robot navigation based on ROS

Jianhua Zhang, Wei He, Aidi Zhao, Lin Zhang, Qi Feng, Youjie Zhou

Proceedings Volume 11427, Second Target Recognition and Artificial Intelligence Summit Forum; 1142710 (2020) https://doi.org/10.1117/12.2550936
Event: Second Target Recognition and Artificial Intelligence Summit Forum, 2019, Changchun, China

Abstract

The environment perception and navigation ability of robots are the basis of robot interaction with environment. The scene understanding is the prerequisite of robot autonomous navigation and navigation is the ultimate goal of robot scene understanding, therefore, a mobile robot semantic map navigation system is designed. Firstly, a dense pointcloud map is constructed by using a deep convolutional neural network. Then, the mapping relationship between the depth camera data and the laser data is proposed, for purpose of realizing their interconversion. And a method of constructing two-dimensional raster map by simulating laser data by using the data of the depth camera is proposed. Finally, a method that semantic information is integrated into the two-dimensional grid map is proposed, realizing the semantic navigation of the service robot. The experimental results showed that compared with other robotic navigation systems, the proposed algorithm can better realize the interactions between service robots and people and the environment.

Citation Download Citation

Jianhua Zhang, Wei He, Aidi Zhao, Lin Zhang, Qi Feng, and Youjie Zhou "Semantic map for service robot navigation based on ROS", Proc. SPIE 11427, Second Target Recognition and Artificial Intelligence Summit Forum, 1142710 (31 January 2020); https://doi.org/10.1117/12.2550936

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KEYWORDS

Cameras

Clouds

Associative arrays

Data conversion

3D modeling

Navigation systems

Target recognition

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