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Hypermaps: Beyond occupancy grids
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering. Aalto University, Department of Electrical Engineering and Automation.
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Intelligent and autonomous robotic applications often require robots to have more information about their environment than provided by traditional occupancy maps. An example are semantic maps, which provide qualitative descriptions of the environment. While research in the area of semantic mapping has been performed, most robotic frameworks still offer only occupancy maps.

In this thesis, a framework is developed to handle multi-layered 2D maps in ROS. The framework offers occupancy and semantic layers, but can be extended with new layer types in the future. Furthermore, an algorithm to automatically generate semantic maps from RGB-D images is presented.

Software tests were performed to check if the framework fulfills all set requirements. It was shown that the requirements are accomplished. Furthermore, the semantic mapping algorithm was evaluated with different configurations in two test environments, a laboratory and a floor. While the object shapes of the generated semantic maps were not always accurate and some false detections occurred, most objects were successfully detected and placed on the semantic map. Possible ways to improve the accuracy of the mapping in the future are discussed.

Place, publisher, year, edition, pages
2019. , p. 51
Keywords [en]
hypermaps, semantic maps, object detection, mapping
National Category
Robotics
Identifiers
URN: urn:nbn:se:ltu:diva-75858OAI: oai:DiVA.org:ltu-75858DiVA, id: diva2:1349463
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level (120 credits)
Supervisors
Examiners
Available from: 2019-09-19 Created: 2019-09-09 Last updated: 2019-09-19Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf