Autonomous sign reading for semantic mapping

摘要

We consider the problem of automatically collecting semantic labels during robotic mapping by extending the mapping system to include text detection and recognition modules. In particular, we describe a system by which a SLAM generated map of an office environment can be annotated with text labels such as room numbers and the names of office occupants. These labels are acquired automatically from signs posted on walls throughout a building. Deploying such a system using current text recognition systems, however, is difficult since even state-of-the-art systems have difficulty reading text from non-document images. Despite these difficulties we present a series of additions to the typical mapping pipeline that nevertheless allow us to create highly usable results. In fact, we show how our text detection and recognition system, combined with several other ingredients, allows us to generate an annotated map that enables our robot to recognize named locations specified by a user in 84% of cases.