Completing Robot Maps by Predicting the Layout of Rooms Behind Closed Doors

M. Luperto, Federico Amadelli, F. Amigoni
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引用次数: 3

Abstract

The availability of maps of indoor environments is often fundamental for autonomous mobile robots to efficiently operate in industrial, office, and domestic applications. When robots build such maps, some areas of interest could be inaccessible, for instance, due to closed doors. As a consequence, these areas are not represented in the maps, possibly limiting the activities robots can perform. In this paper, we provide a method that completes 2D grid maps by adding the predicted layout of the rooms behind closed doors. The main idea of our approach is to exploit the underlying geometrical structure of indoor environments to estimate the shape of unobserved rooms. Results show that our method is accurate in completing maps also when large portions of environments cannot be accessed by the robot during map building.
通过预测门后房间的布局来完成机器人地图
室内环境地图的可用性通常是自主移动机器人在工业、办公和家庭应用中有效运行的基础。当机器人建立这样的地图时,一些感兴趣的区域可能无法进入,例如,由于关闭的门。因此,这些区域并没有在地图上表现出来,这可能限制了机器人的活动。在本文中,我们提供了一种通过添加封闭门后房间的预测布局来完成二维网格地图的方法。我们的方法的主要思想是利用室内环境的潜在几何结构来估计未被观察到的房间的形状。结果表明,当机器人在地图构建过程中无法进入大部分环境时,我们的方法在完成地图时也是准确的。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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