Occupancy Grid Map Construction Based on Semantic Segmentation and a Priori Knowledge

Navigational map is a prerequisite for automatic guided vehicle. The traditional feature-based visual Simultaneous Localization and Mapping (vSLAM) systems extract sparse points to generate a map that cannot be used for navigation or path planning. Generally, dense depth estimation based on multi-vi...

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Veröffentlicht in:IEEE access 2024, Vol.12, p.186617-186625
Hauptverfasser: Li, Gang, Fan, Yongqiang, Li, Jianhua, Lu, Jianfeng
Format: Artikel
Sprache:eng
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Zusammenfassung:Navigational map is a prerequisite for automatic guided vehicle. The traditional feature-based visual Simultaneous Localization and Mapping (vSLAM) systems extract sparse points to generate a map that cannot be used for navigation or path planning. Generally, dense depth estimation based on multi-view geometry or Convolutional Neural Network (CNN) is a typical Solution for vSLAM systems to construct a navigational map. However, depth estimation is sometimes inaccurate in low-texture or reflective regions and difficult to evaluate errors in practice. To improve these problems, we propose a solution named Semantics-guided Structure Reconstruction Mapping (SSR-Mapping) that utilizes a stereo camera to construct an indoor navigation map avoiding dense depth estimation. The key aspects of SSR-Mapping are semantic segmentation, priori knowledge of indoor structure features, and visibility constraint. A post-process method is also proposed to correct navigation map reconstruction errors resulting from some inaccurate semantic segmentation. Experiments are carried out to compare SSR-Mapping with the systems using dense depth estimation. The results validate the feasibility and show the promising performance of SSR-Mapping.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2024.3513404