TY - GEN
T1 - Efficient Real-Time Localization in Prior Indoor Maps Using Semantic SLAM
AU - Goswami, R. G.
AU - Amith, P. V.
AU - Hari, J.
AU - Dhaygude, A.
AU - Krishnamurthy, P.
AU - Rizzo, J.
AU - Tzes, A.
AU - Khorrami, F.
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In this paper, a method for real-time global localization (registration) of an agent (robot or visually impaired person) in the presence of an a priori indoor map (e.g., an image of a floor plan) is presented. In the proposed algorithm, the SLAM map created by the agent equipped with RGB-D and IMU sensors is used in conjunction with an a priori architectural floor plan to find the global location of the agent. This involves extraction and vectorization of the semantic object locations from the a priori map image, implementation of real-time semantic SLAM using onboard sensors on the agent, and the use of a particle filter based optimization method for global localization. The proposed algorithm is applied in an indoor environment and localization results are presented showing the effectiveness of the approach.
AB - In this paper, a method for real-time global localization (registration) of an agent (robot or visually impaired person) in the presence of an a priori indoor map (e.g., an image of a floor plan) is presented. In the proposed algorithm, the SLAM map created by the agent equipped with RGB-D and IMU sensors is used in conjunction with an a priori architectural floor plan to find the global location of the agent. This involves extraction and vectorization of the semantic object locations from the a priori map image, implementation of real-time semantic SLAM using onboard sensors on the agent, and the use of a particle filter based optimization method for global localization. The proposed algorithm is applied in an indoor environment and localization results are presented showing the effectiveness of the approach.
KW - SLAM
KW - indoor environment
KW - localization and navigation
KW - particle filter
KW - semantic segmentation
UR - http://www.scopus.com/inward/record.url?scp=85161283538&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85161283538&partnerID=8YFLogxK
U2 - 10.1109/ICARA56516.2023.10125919
DO - 10.1109/ICARA56516.2023.10125919
M3 - Conference contribution
AN - SCOPUS:85161283538
T3 - 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023
SP - 299
EP - 303
BT - 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Conference on Automation, Robotics and Applications, ICARA 2023
Y2 - 10 February 2023 through 12 February 2023
ER -