A real-time semantic visual SLAM approach with points and objects
文献类型：期刊论文
| 作者 | Guan, Peiyu1,2 ; Cao, Zhiqiang1,2; Chen, Erkui4; Liang, Shuang1,2; Tan, Min1,2; Yu, Junzhi1,3
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| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
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| 出版日期 | 2020 |
| 卷号 | 17期号:1页码:10 |
| 关键词 | Semantic SLAM data association object segmentation semantic constraint |
| ISSN号 | 1729-8814 |
| DOI | 10.1177/1729881420905443 |
| 通讯作者 | Cao, Zhiqiang(zhiqiang.cao@ia.ac.cn) |
| 英文摘要 | Visual simultaneously localization and mapping (SLAM) is important for self-localization and environment perception of service robots, where semantic SLAM can provide a more accurate localization result and a map with abundant semantic information. In this article, we propose a real-time PO-SLAM approach with the combination of both point and object measurements. With point-point association in ORB-SLAM2, we also consider point-object association based on object segmentation and object-object association, where the object segmentation is employed by combining object detection with depth histogram. Also, besides the constraint of feature points belonging to an object, a semantic constraint of relative position invariance among objects is introduced. Accordingly, two semantic loss functions with point and object information are designed and added to the bundle adjustment optimization. The effectiveness of the proposed approach is verified by experiments. |
| 资助项目 | Key Research and Development Program of Shandong Province[2017CXGC0925] ; Beijing Advanced Innovation Center for Intelligent Robots and Systems[2018IRS21] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61836015] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000515812100001 |
| 出版者 | SAGE PUBLICATIONS INC |
| 资助机构 | Key Research and Development Program of Shandong Province ; Beijing Advanced Innovation Center for Intelligent Robots and Systems ; National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/38424]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Cao, Zhiqiang |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 2.Univ Chinese Acad Sci, Beijing, Peoples R China 3.Peking Univ, Dept Mech & Engn Sci, Beijing Innovat Ctr Engn Sci & Adv Technol, Coll Engn, Beijing, Peoples R China 4.Shandong Univ Sci & Technol, Coll Elect Engn & Automat, Qingdao, Peoples R China |
| 推荐引用方式 GB/T 7714 | Guan, Peiyu,Cao, Zhiqiang,Chen, Erkui,et al. A real-time semantic visual SLAM approach with points and objects[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2020,17(1):10. |
| APA | Guan, Peiyu,Cao, Zhiqiang,Chen, Erkui,Liang, Shuang,Tan, Min,&Yu, Junzhi.(2020).A real-time semantic visual SLAM approach with points and objects.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,17(1),10. |
| MLA | Guan, Peiyu,et al."A real-time semantic visual SLAM approach with points and objects".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 17.1(2020):10. |
入库方式： OAI收割
来源：自动化研究所
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