基于物体语义栅格地图的语义拓扑地图构建方法

Semantic topological map building with object semantic grid map

为构建以房间为节点的语义拓扑地图,基于物体语义栅格地图,提出了一种利用虚拟门检测和房间物体包含关系的拓扑分割及房间概念生成方法。首先,依据机器人轨迹和房间主方向,检测满足真实门宽度的占据栅格;然后,采用几何和物体语义约束优化检测结果;最后,利用每个拓扑区域包含的物体语义生成房间概念。通过在多个场景测试,验证了算法的有效性。

To construct a topological map with rooms as nodes and based on the object semantic grid map, this paper proposes a topological segmentation method with virtual door detection and a room generation method based on the inclusion relationship of rooms and objects. Firstly, detect the occupied grids that meet the width of the actual doors, then use geometric shapes and object semantics to optimize the detection results, and finally employ the objects contained in the topological nodes to generate the room concepts. Through testing in multiple scenarios, the effectiveness of the algorithm is verified.