Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Sensor Fusion-Based Semantic Map Building

센서융합을 통한 시맨틱 지도의 작성

  • 박중태 (고려대학교 메카트로닉스 협동과정 대학원) ;
  • 송재복 (고려대학교 기계공학부)
  • Received : 2010.12.10
  • Accepted : 2011.01.07
  • Published : 2011.03.01
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Abstract

This paper describes a sensor fusion-based semantic map building which can improve the capabilities of a mobile robot in various domains including localization, path-planning and mapping. To build a semantic map, various environmental information, such as doors and cliff areas, should be extracted autonomously. Therefore, we propose a method to detect doors, cliff areas and robust visual features using a laser scanner and a vision sensor. The GHT (General Hough Transform) based recognition of door handles and the geometrical features of a door are used to detect doors. To detect the cliff area and robust visual features, the tilting laser scanner and SIFT features are used, respectively. The proposed method was verified by various experiments and showed that the robot could build a semantic map autonomously in various indoor environments.

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References

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