TY - GEN
T1 - Visual-Based Semantic SLAM with Landmarks for Large-Scale Outdoor Environment
AU - Zhao, Zirui
AU - Mao, Yijun
AU - Ding, Yan
AU - Ren, Pengju
AU - Zheng, Nanning
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/9
Y1 - 2019/9
N2 - Semantic SLAM is an important field in autonomous driving and intelligent agents, which can enable robots to achieve high-level navigation tasks, obtain simple cognition or reasoning ability and achieve language-based human-robot-interaction. In this paper, we built a system to creat a semantic 3D map by combining 3D point cloud from ORB SLAM [1], [2] with semantic segmentation information from Convolutional Neural Network model PSPNet-101 [3] for large-scale environments. Besides, a new dataset for KITTI [4] sequences has been built, which contains the GPS information and labels of landmarks from Google Map in related streets of the sequences. Moreover, we find a way to associate the real-world landmark with point cloud map and built a topological map based on semantic map.
AB - Semantic SLAM is an important field in autonomous driving and intelligent agents, which can enable robots to achieve high-level navigation tasks, obtain simple cognition or reasoning ability and achieve language-based human-robot-interaction. In this paper, we built a system to creat a semantic 3D map by combining 3D point cloud from ORB SLAM [1], [2] with semantic segmentation information from Convolutional Neural Network model PSPNet-101 [3] for large-scale environments. Besides, a new dataset for KITTI [4] sequences has been built, which contains the GPS information and labels of landmarks from Google Map in related streets of the sequences. Moreover, we find a way to associate the real-world landmark with point cloud map and built a topological map based on semantic map.
KW - Landmark-level Semantic Mapping
KW - Large-Scale SLAM
KW - Semantic SLAM
KW - Semantic Segmentation
KW - Visual SLAM
UR - https://www.scopus.com/pages/publications/85075745287
U2 - 10.1109/CCHI.2019.8901910
DO - 10.1109/CCHI.2019.8901910
M3 - 会议稿件
AN - SCOPUS:85075745287
T3 - Proceedings - 2nd China Symposium on Cognitive Computing and Hybrid Intelligence, CCHI 2019
SP - 149
EP - 154
BT - Proceedings - 2nd China Symposium on Cognitive Computing and Hybrid Intelligence, CCHI 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd China Symposium on Cognitive Computing and Hybrid Intelligence, CCHI 2019
Y2 - 21 September 2019 through 22 September 2019
ER -