A Hierarchical Semantic Map for Large-scale Outdoor Environment | |
Di Zhang; De Xu | |
2021 | |
会议日期 | 2021.7 |
会议地点 | Xining, Qinghai, China |
英文摘要 | We make full use of the pre-known knowledge of environment, and establish a hierarchical semantic map offline for large-scale outdoor environment. The map contains semantic information which is more stable than the commonly used feature points. And the description and recognition methods of locations based on semantic information are similar to human habits. Experiment results show that the all parts of the map working together can achieve path planning, location recognition and relative pose estimation to complete the robot navigation task. |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/50612] |
专题 | 精密感知与控制研究中心_精密感知与控制 |
通讯作者 | De Xu |
作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, Beijing 100190, Peoples R China |
推荐引用方式 GB/T 7714 | Di Zhang,De Xu. A Hierarchical Semantic Map for Large-scale Outdoor Environment[C]. 见:. Xining, Qinghai, China. 2021.7. |
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