期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2015
卷号：12
DOI：10.5772/62040
语种：English
出版社：SAGE Publications
摘要：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 monocular 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.
关键词：Semantic Map; Topological Map; Object Detection; Deformable Part Model; Monocular SLAM
