Semantic Map Building Based on Object Detection for Indoor Navigation
dc.contributor.author | Yang, Jinfu | |
dc.contributor.author | Zhang, Jizhao | |
dc.contributor.author | Wang, Guanghui | |
dc.contributor.author | Li, Mingai | |
dc.date.accessioned | 2016-12-22T17:39:24Z | |
dc.date.available | 2016-12-22T17:39:24Z | |
dc.date.issued | 2015-11-23 | |
dc.identifier.citation | Yang, Jinfu, Jizhao Zhang, Guanghui Wang, and Mingai Li. "Semantic Map Building Based on Object Detection for Indoor Navigation." International Journal of Advanced Robotic Systems (2015): 1. | en_US |
dc.identifier.uri | http://hdl.handle.net/1808/22282 | |
dc.description.abstract | Building a map of the environment is a prerequisite for mobile robot navigation. In this paper, we present a semantic map building method for indoor navigation of a robot using only the image sequence acquired by a mon‐ ocular camera installed on the robot. First, a topological map of the environment is created, where each key frame forms a node of the map represented as visual words (VWs). The edges between two adjacent nodes are built from relative poses obtained by performing a novel pose estimation approach, called one-point RANSAC camera pose estimation (ORPE). Then, taking advantage of an improved deformable part model (iDPM) for object detection, the topological map is extended by assigning semantic attributes to the nodes. Extensive experimental evaluations demonstrate the effectiveness of the proposed monocular SLAM method. | en_US |
dc.publisher | SAGE Publications | en_US |
dc.rights | © 2015 Author(s). Licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. | en_US |
dc.rights.uri | http://creativecommons.org/licenses/by/3.0 | en_US |
dc.subject | Semantic map | en_US |
dc.subject | Topological map | en_US |
dc.subject | Object detection | en_US |
dc.subject | Deformable part model | en_US |
dc.subject | Monocular SLAM | en_US |
dc.title | Semantic Map Building Based on Object Detection for Indoor Navigation | en_US |
dc.type | Article | en_US |
kusw.kuauthor | Wang, Guanghui | |
kusw.kudepartment | Electrical Engr & Comp Science | en_US |
dc.identifier.doi | 10.5772/62040 | en_US |
kusw.oaversion | Scholarly/refereed, publisher version | en_US |
kusw.oapolicy | This item meets KU Open Access policy criteria. | en_US |
dc.rights.accessrights | openAccess |
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Except where otherwise noted, this item's license is described as: © 2015 Author(s). Licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.