Place Categorization and Semantic Mapping on a Mobile Robot
ICRA(2015)
摘要
In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system upon a state-of-the-art convolutional network. We overcome its closed-set limitations by complementing the network with a series of one-vs-all classifiers that can learn to recognize new semantic classes online. Prior domain knowledge is incorporated by embedding the classification system into a Bayesian filter framework that also ensures temporal coherence. We evaluate the classification accuracy of the system on a robot that maps a variety of places on our campus in real-time. We show how semantic information can boost robotic object detection performance and how the semantic map can be used to modulate the robot's behaviour during navigation tasks. The system is made available to the community as a ROS module.
更多查看译文
关键词
place categorization,semantic mapping,mobile robot,visual recognition,convolutional network,closed-set limitation,learning,semantic class recognition,domain knowledge,classification system,Bayesian filter framework,temporal coherence,semantic information,robotic object detection performance,robot behaviour,navigation task,ROS module
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络