1
|
Sun Y, Hu J, Yun J, Liu Y, Bai D, Liu X, Zhao G, Jiang G, Kong J, Chen B. Multi-Objective Location and Mapping Based on Deep Learning and Visual Slam. SENSORS (BASEL, SWITZERLAND) 2022; 22:7576. [PMID: 36236676 PMCID: PMC9571389 DOI: 10.3390/s22197576] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/12/2022] [Revised: 09/28/2022] [Accepted: 10/03/2022] [Indexed: 06/16/2023]
Abstract
Simultaneous localization and mapping (SLAM) technology can be used to locate and build maps in unknown environments, but the constructed maps often suffer from poor readability and interactivity, and the primary and secondary information in the map cannot be accurately grasped. For intelligent robots to interact in meaningful ways with their environment, they must understand both the geometric and semantic properties of the scene surrounding them. Our proposed method can not only reduce the absolute positional errors (APE) and improve the positioning performance of the system but also construct the object-oriented dense semantic point cloud map and output point cloud model of each object to reconstruct each object in the indoor scene. In fact, eight categories of objects are used for detection and semantic mapping using coco weights in our experiments, and most objects in the actual scene can be reconstructed in theory. Experiments show that the number of points in the point cloud is significantly reduced. The average positioning error of the eight categories of objects in Technical University of Munich (TUM) datasets is very small. The absolute positional error of the camera is also reduced with the introduction of semantic constraints, and the positioning performance of the system is improved. At the same time, our algorithm can segment the point cloud model of objects in the environment with high accuracy.
Collapse
Affiliation(s)
- Ying Sun
- Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China
- Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan 430081, China
- Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan 430081, China
| | - Jun Hu
- Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China
- Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan 430081, China
| | - Juntong Yun
- Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China
- Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan 430081, China
| | - Ying Liu
- Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China
- Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan 430081, China
| | - Dongxu Bai
- Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China
- Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan 430081, China
| | - Xin Liu
- Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China
- Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan 430081, China
| | - Guojun Zhao
- Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China
- Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan 430081, China
| | - Guozhang Jiang
- Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China
- Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan 430081, China
- Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan 430081, China
| | - Jianyi Kong
- Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China
- Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan 430081, China
- Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan 430081, China
| | - Baojia Chen
- Hubei Key Laboratory of Hydroelectric Machinery Design and Maintenance, China Three Gorges University, Yichang 443002, China
| |
Collapse
|