https://scholars.lib.ntu.edu.tw/handle/123456789/430187
標題: | Hierarchical Semantic Mapping using Convolutional Neural Networks for Intelligent Service Robotics | 作者: | Ren C. Luo Michael Chiou REN-CHYUAN LUO |
關鍵字: | human-robot interaction; Intelligent robots; semantic technology; service robots | 公開日期: | 2018 | 卷: | 6 | 起(迄)頁: | 34-48 | 來源出版物: | IEEE Access | 摘要: | The introduction of service robots in the public domain has introduced a paradigm shift in how robots are interacting with people, where robots must learn to autonomously interact with the untrained public instead of being directed by trained personnel. As an example, a hospital service robot is told to deliver medicine to Patient Two in Ward Three. Without awareness of what 'Patient Two' or 'Ward Three' is, a service robot must systematically explore the environment to perform this task, which requires a long time. The implementation of a Semantic Map allows for robots to perceive the environment similar to people by associating semantic information with spatial information found in geometric maps. Currently, many semantic mapping works provide insufficient or incorrect semantic-metric information to allow a service robot to function dynamically in human-centric environments. This paper proposes a semantic map with a hierarchical semantic organization structure based on a hybrid metric-topological map leveraging convolutional neural networks and spatial room segmentation methods. Our results are validated using multiple simulated and real environments on our lab's custom developed mobile service robot and demonstrate an application of semantic maps by providing only vocal commands. We show that this proposed method provides better capabilities in terms of semantic map labeling and retain multiple levels of semantic information. ? 2013 IEEE. |
URI: | https://scholars.lib.ntu.edu.tw/handle/123456789/430187 | ISSN: | 21693536 | DOI: | 10.1109/access.2018.2873597 | SDG/關鍵字: | Convolution; Intelligent robots; Job analysis; Mapping; Measurement; Mobile robots; Navigation; Neural networks; Semantic Web; Semantics; Convolutional neural network; Hybrid metric-topological maps; Intelligent Services; Mobile service robots; Organization structures; Semantic technologies; Service robots; Task analysis; Human robot interaction |
顯示於: | 電機工程學系 |
在 IR 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。