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Semantic indoor maps
Blekinge Institute of Technology, School of Computing.
Blekinge Institute of Technology, School of Computing.ORCID iD: 0000-0003-4327-117X
2013 (English)Conference paper, Published paper (Refereed)
Abstract [en]

The cumbersome process of construction and incremental update of large indoor maps can be simplified by semantic maps. A novel semantic mapping method for indoor environments is proposed which employs a flash-n-extend strategy for constructing and updating the map. At the exposure of every flash event, a 3D snapshot of the environment is taken which is extended until flash event reoccurs. A flash event occurs at a motion state transition of a mobile robot which is detected by the decomposition of motion estimates. The proposed method is evaluated on a set of image sequences and is found to be robust in building indoor maps which are suitable for robust autonomous navigation. The constructed maps provide simplistic representation of the environment which makes it ideal for high-level reasoning tasks.

Place, publisher, year, edition, pages
Wellington: IEEE , 2013.
Keyword [en]
indoor, local awareness, Semantic, simultaneous localization and mapping, SLAM, visual navigation
National Category
Computer Science
Identifiers
URN: urn:nbn:se:bth-6359DOI: 10.1109/IVCNZ.2013.6727059ISI: 000350291600080Local ID: oai:bth.se:forskinfo0AFDE420D95B7CE0C1257CBB0022BAAEISBN: 978-147990882-0 (print)OAI: oai:DiVA.org:bth-6359DiVA: diva2:833857
Conference
28th International Conference Image and Vision Computing New Zealand
Available from: 2015-05-25 Created: 2014-04-15 Last updated: 2016-09-20Bibliographically approved

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