[1]ZHOU Fangbo,ZHAO Huailin,LIU Huaping.Indoor mobile robot target search based on the scene graphs[J].CAAI Transactions on Intelligent Systems,2022,17(5):1032-1038.[doi:10.11992/tis.202109011]
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CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
17
Number of periods:
2022 5
Page number:
1032-1038
Column:
吴文俊人工智能科学技术奖论坛
Public date:
2022-09-05
- Title:
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Indoor mobile robot target search based on the scene graphs
- Author(s):
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ZHOU Fangbo1; ZHAO Huailin1; LIU Huaping2; 3
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1. School of Electrical and Electronic Engineering, Shanghai Institute of Technology, Shanghai 201418, China;
2. Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China;
3. State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing 100084, China
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- Keywords:
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mobile robot; scene graph; navigation map; semantic map; semantic relationship graph; target search; landmark object; dynamic object
- CLC:
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TP242
- DOI:
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10.11992/tis.202109011
- Abstract:
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When a mobile robot performs daily household tasks, it must avoid obstacles in the environment and find objects in the room autonomously. To enable mobile robots to effectively search for target objects in indoor environments, an indoor mobile robot target search method based on a scene graph is proposed. Its framework combines a navigation map, a semantic map, and a semantic relationship graph. Based on the navigation map, a semantic map containing the location information of the landmark objects is established, so the robot can easily search for these objects. For dynamic objects, the robot will first look for landmark objects with a higher relationship strength based on the concurrent relationship between the objects in the semantic relationship graph. Physical experiments show that the robot can effectively find the target in an indoor environment using the semantic map and the semantic relationship graph, significantly reducing the search path length and hence proving the effectiveness of the method.