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+ Autonomous Exploration and Semantic Updating of Large-Scale Indoor + Environments with Mobile Robots
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+ Abstract
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+ + We introduce a new robotic system that enables a mobile robot to autonomously explore an unknown + environment, build a semantic map of the environment, + and subsequently update the semantic map to reflect + environment changes, such as location changes of objects. + Our system leverages a LiDAR scanner for 2D occupancy + grid mapping and an RGB-D camera for object perception. + We introduce a semantic map representation that combines + a 2D occupancy grid map for geometry, with a topological + map for object semantics. This map representation enables + us to effectively update the semantics by deleting or adding + nodes to the topological map. Our system has been tested + on a Fetch robot. The robot can semantically map a + 93m×90m floor and update the semantic map once objects + are moved in the environment. +
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+ + + + + + + + IRVLUTD => Autonomous Exploration, Semantic Mapping and Update + + + +
++ Code will be released soon ! +
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+ Citation (BibTeX)
+ Please cite RobotFingerPrint if this work helps in your research: +@inproceedings{allu2024semanticmapping,
+ title={Autonomous Exploration and Semantic Updating of Large-Scale Indoor Environments with Mobile Robots},
+ author={Allu, Sai Haneesh and Kadosh, Itay and Summers, Tyler and Xiang, Yu},
+ journal={arXiv preprint arXiv:2409.15493},
+ year={2024}
+ }
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+ Contact
+Send any comments or questions to Sai Haneesh Allu: saihaneesh.allu@utdallas.edu
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+ Acknowledgements
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+ + This work was supported by the DARPA Perceptuallyenabled Task Guidance (PTG) Program under contract number + HR00112220005 and the Sony Research Award Program. The + work of T. Summers was supported by the United States + Air Force Office of Scientific Research under Grant FA9550- + 23-1-0424 and the National Science Foundation under Grant + ECCS-2047040. We would like to thank our colleague, Jishnu + Jaykumar P, for his assistance during the experiments +
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