A Hierarchical Semantic Map for Large-scale Outdoor Environment

	A Hierarchical Semantic Map for Large-scale Outdoor Environment
	Di Zhang; De Xu
	2021
会议名称	IEEE International Conference on Real-time Computing and Robotics
会议日期	2021.7
会议地点	Xining, Qinghai, China
摘要	We make full use of the pre-known knowledge of environment, and establish a hierarchical semantic map offline for large-scale outdoor environment. The map contains semantic information which is more stable than the commonly used feature points. And the description and recognition methods of locations based on semantic information are similar to human habits. Experiment results show that the all parts of the map working together can achieve path planning, location recognition and relative pose estimation to complete the robot navigation task.
七大方向——子方向分类	智能机器人
国重实验室规划方向分类	视觉信息处理
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/50612
专题	中科院工业视觉智能装备工程实验室_精密感知与控制
通讯作者	De Xu
作者单位	1.Chinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Di Zhang,De Xu. A Hierarchical Semantic Map for Large-scale Outdoor Environment[C],2021.