Journal
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021)
Volume -, Issue -, Pages 11203-11209Publisher
IEEE
DOI: 10.1109/ICRA48506.2021.9561532
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The paper proposes a novel object-level data association algorithm based on bag of words algorithm, which achieves high-accuracy semantic mapping and improves the success rate of object initialization by solving object-level data association problems.
It is often desirable to capture and map semantic information of an environment during simultaneous localization and mapping (SLAM). Such semantic information can enable a robot to better distinguish places with similar low-level geometric and visual features and perform high-level tasks that use semantic information about objects to be manipulated and environments to be navigated. While semantic SLAM has gained increasing attention, there is little research on semantic-level data association based on semantic objects, i.e., object-level data association. In this paper, we propose a novel object-level data association algorithm based on bag of words algorithm Ill, formulated as a maximum weighted bipartite matching problem. With object-level data association solved, we develop a quadratic-programming-based semantic object initialization scheme using dual quadric and introduce additional constraints to improve the success rate of object initialization. The integrated semantic-level SLAM system can achieve high-accuracy object-level data association and real-time semantic mapping as demonstrated in the experiments. The online semantic map building and semantic-level localization capabilities facilitate semantic-level mapping and task planning in a priori unknown environment.
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