A Real-Time Semantic Map Production System for Indoor Robot Navigation

摘要

Although grid maps help mobile robots navigate in indoor environments, some lack semantic information that would allow the robot to perform advanced autonomous tasks. In this paper, a semantic map production system is proposed to facilitate indoor mobile robot navigation tasks. The developed system is based on the employment of LiDAR technology and a vision-based system to obtain a semantic map with rich information, and it has been validated using the robot operating system (ROS) and you only look once (YOLO) v3 object detection model in simulation experiments conducted in indoor environments, adopting low-cost, -size, and -memory computers for increased accessibility. The obtained results are efficient in terms of object recognition accuracy, object localization error, and semantic map production precision, with an average map construction accuracy of 78.86%.