期刊
JOURNAL OF ROBOTICS AND MECHATRONICS
卷 29, 期 4, 页码 639-648出版社
FUJI TECHNOLOGY PRESS LTD
DOI: 10.20965/jrm.2017.p0639
关键词
autonomous navigation robot; 3D semantic map; localization
类别
This paper presents an autonomous navigation system. Our system is based on an accurate 3D map, which includes geometric information (e.g., curb, wall, street tree) and semantic information (e.g., sidewalk, roadway, crosswalk) extracted by environmental recognition. By using the semantic map, we can obtain the suitable area to keep away from undesired places. Furthermore, by comparing the map with real-time 3D geometric information from LI-DAR, we obtain the robot position. To show the effectiveness of our system, we conduct a 3D semantic map construction experiment and driving test. The experiment results show that the proposed system enables accurate and highly reproducible localization and stable autonomous mobility.
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