SMaNa: Semantic Mapping and Navigation Architecture for Autonomous Robots

Quentin Serdel, Julien Marzat, Julien Moras

2023

Abstract

Motivated by recent advances in machine learning applied to semantic segmentation, online 3D mapping is being extended to integrate semantic data. As these developments pave the way to the improvement of many robotic functionalities, the application of semantic mapping for navigation tasks remains to be further explored. In this paper we present an online Semantic Mapping and Navigation ROS architecture (SMaNa), with autonomous exploration as an application example. It is intended to be generic, so as to exploit state-of-the-art semantic mapping methods for unstructured environment and adapt them to perform jointly with a navigation graph builder and a semantic-aware A* path planner. The adequacy of multiple semantic mapping solutions for robot navigation in open environment and the performances of the architecture given the influence of localisation and semantic labelling uncertainty are evaluated in a closed-loop Ignition Gazebo simulation built from the 3DRMS synthetic dataset, and on the outdoor RELLIS-3D dataset.

Paper Citation

in Harvard Style

Serdel Q., Marzat J. and Moras J. (2023). SMaNa: Semantic Mapping and Navigation Architecture for Autonomous Robots. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 453-464. DOI: 10.5220/0012192800003543

in Bibtex Style

@conference{icinco23,
author={Quentin Serdel and Julien Marzat and Julien Moras},
title={SMaNa: Semantic Mapping and Navigation Architecture for Autonomous Robots},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={453-464},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012192800003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - SMaNa: Semantic Mapping and Navigation Architecture for Autonomous Robots
SN - 978-989-758-670-5
AU - Serdel Q.
AU - Marzat J.
AU - Moras J.
PY - 2023
SP - 453
EP - 464
DO - 10.5220/0012192800003543
PB - SciTePress