论文标题
在线面向对象的语义映射和地图更新
Online Object-Oriented Semantic Mapping and Map Updating
论文作者
论文摘要
对于每个服务机器人来说，创建和维护环境的准确表示是必不可少的功能。特别是对于在室内环境中作用的家用机器人，语义信息很重要。在本文中，我们提出了带有模块化图表示的语义映射框架。我们的系统能够从RGB-D数据中进行在线映射和对象更新给定的对象检测，并提供映射对象的各种2D和3D〜表示。为了撤消错误的数据关联，我们在更新对象形状时执行改进步骤。此外，我们还保持每个对象处理假阳性和假阴性检测并保持图表更新的可能性。我们的映射系统高效，并且运行时间超过10 Hz。我们使用两种不同的机器人，即丰田HSR和Fraunhofer Care-O-Bot-4评估了我们在各种环境中的方法。正如实验结果所表明的那样，我们的系统能够生成靠近地面真理的地图，并且在联合，不同的距离指标和正确对象映射的数量方面优于现有方法
Creating and maintaining an accurate representation of the environment is an essential capability for every service robot. Especially for household robots acting in indoor environments, semantic information is important. In this paper, we present a semantic mapping framework with modular map representations. Our system is capable of online mapping and object updating given object detections from RGB-D data and provides various 2D and 3D~representations of the mapped objects. To undo wrong data associations, we perform a refinement step when updating object shapes. Furthermore, we maintain an existence likelihood for each object to deal with false positive and false negative detections and keep the map updated. Our mapping system is highly efficient and achieves a run time of more than 10 Hz. We evaluated our approach in various environments using two different robots, i.e., a Toyota HSR and a Fraunhofer Care-O-Bot-4. As the experimental results demonstrate, our system is able to generate maps that are close to the ground truth and outperforms an existing approach in terms of intersection over union, different distance metrics, and the number of correct object mappings
