Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2011.17.3.277

Sensor Fusion-Based Semantic Map Building  

Park, Joong-Tae (Korea University)
Song, Jae-Bok (Korea University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.3, 2011 , pp. 277-282 More about this Journal
Abstract
This paper describes a sensor fusion-based semantic map building which can improve the capabilities of a mobile robot in various domains including localization, path-planning and mapping. To build a semantic map, various environmental information, such as doors and cliff areas, should be extracted autonomously. Therefore, we propose a method to detect doors, cliff areas and robust visual features using a laser scanner and a vision sensor. The GHT (General Hough Transform) based recognition of door handles and the geometrical features of a door are used to detect doors. To detect the cliff area and robust visual features, the tilting laser scanner and SIFT features are used, respectively. The proposed method was verified by various experiments and showed that the robot could build a semantic map autonomously in various indoor environments.
Keywords
semantic map; door detection; visual feature extraction; mapping;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 2
연도 인용수 순위
1 O. M. Mozos, P. Jensfelt, H. Zender, G.-J. M. Kruijff, and W. Burgard, "From labels to semantics: An integrated system for conceptual spatial representations of indoor environments for mobile robots," Proc. of the IEEE/RSJ Intelligent Robots and Systems, 2007.
2 R. Siegwart, Introduction to Autonomous Mobile Robots, A Bradford Book, pp.154-159, 2004.
3 D.-W. Lee, J.-T. Park, and J.-B. Song, "Door detection with door handle recognition based on contour image and support vector machine," Journal of Control, Automation, and Systems Engineering, vol. 16, no. 12, pp. 1068-1073, 2010.   과학기술학회마을   DOI
4 D. Lowe, "Distinctive image features from scale invariant keypoints," Int'l Journal of Computer Vision, vol. 60, no 2, pp. 91-110, 2004.   DOI
5 J.-T. Park, J.-B. Song, S.-J. Lee, and M. Kim, "Sonar sensor-based efficient exploration method using sonar salient features and several gains," Journal of Intelligent and Robotic Systems, to be published, 2010.
6 Y.-J. Lee, T.-B. Kwon, and J.-B. Song, "SLAM of a mobile robot using thinning-based topological information," Int. Journal of Control, Automation, and Systems, vol. 5, no. 5, pp. 577-583, 2007.   과학기술학회마을
7 J. J. Leonard and H. F. Durrant-Whyte, Directed Sonar Sensing for Mobile Robot Navigation, Kluwer Academic Publishers, Boston, MA, 1992.
8 S. B. Williams, H. F. Durrant-Whyte, and T. Baily, "Map management for efficient simultaneous localization and mapping (SLAM)," Autonomous Robots, vol. 12, no. 3, pp. 267-286, 2002.   DOI
9 M. Montemerlo and S. Thrun, "Simultaneous localization and mapping with unknown data association using Fast SLAM," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1985-1991, 2003.   DOI
10 O. Martinez Mozos and W. Burgard, "Supervised semantic labeling of places using information extracted from sensor data," Robotics and Autonomous Systems, vol. 55, pp. 391-402, 2007.   DOI