가정환경에서의 분류된 지역정보를 통한 계층적 시맨틱 지도 작성

Abstract

This paper describes hierarchical semantic map building using the classified area information in home environments. The hierarchical semantic map consists of a grid, CAIG (Classified Area Information in Grid), and topological map. The grid and CAIG maps are used for navigation and motion selection, respectively. The topological map provides the intuitive information on the environment, which can be used for the communication between robots and users. The proposed semantic map building algorithm can greatly improve the capabilities of a mobile robot in various domains, including localization, path-planning and HRI (Human-Robot Interaction). In the home environment, a door can be used to divide an area into various sections, such as a room, a kitchen, and so on. Therefore, we used not only the grid map of the home environment, but also the door information as a main clue to classify the area and to build the hierarchical semantic map. The proposed method was verified through various experiments and it was found that the algorithm guarantees autonomous map building in the home environment.