基于物体语义栅格地图的语义拓扑地图构建方法

doi:10.13229/j.cnki.jdxbgxb20210623

Abstract

Abstract:

To construct a topological map with rooms as nodes and based on the object semantic grid map， this paper proposes a topological segmentation method with virtual door detection and a room generation method based on the inclusion relationship of rooms and objects. Firstly， detect the occupied grids that meet the width of the actual doors， then use geometric shapes and object semantics to optimize the detection results， and finally employ the objects contained in the topological nodes to generate the room concepts. Through testing in multiple scenarios， the effectiveness of the algorithm is verified.

Key words: computer application, mobile robots, semantic topological map, room segmentation, room concept generation

CLC Number:

TP242.6

Xian-yu QI,Wei WANG,Lin WANG,Yu-fei ZHAO,Yan-peng DONG. Semantic topological map building with object semantic grid map[J].Journal of Jilin University(Engineering and Technology Edition), 2023, 53(2): 569-575.

Figures/Tables 8

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References 14

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参数	形态学	距离变换	维诺图	虚拟门方法1	虚拟门方法2
真实门数量	25	25	25	25	25
虚拟门数量	31	21	19	27	21
正确匹配数量	16	12	10	19	19
虚拟门准确率/%	51.61	57.14	52.63	70.37	90.48
真实门召回率/%	64	48	40	76	76
平均时间消耗/s	0.0193	0.0332	0.1518	0.1173	0.1188

物体类别	卧室	卫生间	厨房	客厅
床	0.9	0.033	0.033	0.033
沙发	0.033	0.033	0.033	0.9
坐便器	0.033	0.9	0.033	0.033
烤箱	0.033	0.033	0.9	0.033
微波炉	0.033	0.033	0.9	0.033
洗手池	0.05	0.45	0.45	0.05

项目	卧室	卫生间	厨房	客厅	走廊	合计
房间数量	9	6	3	6	5	29
正确数量	9	6	3	5	5	28
准确率/%	100	100	100	83.33	100	96.55

Semantic topological map building with object semantic grid map

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