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Robot Localization in Dynamic Environments Using Time-Variant Semantic Cues

Teikmanis, Oskars (2019) Robot Localization in Dynamic Environments Using Time-Variant Semantic Cues. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2019-38, 71 S.

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Abstract

A challenging issue in the field of robotics is the lost robot problem, in which a robot has to relocalize itself in a previously mapped environment based on current sensor readings. We propose a method for addressing this problem by extending the mapping of an environment with semantically labelled points. These semantic landmarks are processed in an algorithm that registers two labelled point sets in order to obtain the rigid transformation that relates the robot's current frame with the global coordinate system. The relocalization system was tested on a dataset created for 3D scene analysis, and on self-made scans of several environments with different types of visual interferences, including obstructions to the field of view and severe lighting changes. These tests revealed that the proposed method performs well with realistic levels of noise in the input data. It even outperforms a state-of-the-art visual mapping and relocalization system both in robustness and in accuracy, producing linear and angular errors of less than 10 cm and 1 degree respectively in successful relocalization attempts.

Item URL in elib:https://elib.dlr.de/126489/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Robot Localization in Dynamic Environments Using Time-Variant Semantic Cues
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Teikmanis, OskarsOskars.Teikmanis (at) dlr.deUNSPECIFIED
Date:7 February 2019
Refereed publication:No
Open Access:Yes
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:71
Status:Published
Keywords:Lost robot problem, SLAM, RANSAC, object detection
Institution:Technical University of Munich
Department:Department of Mechanical Engineering
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Teikmanis, Oskars
Deposited On:11 Mar 2019 11:44
Last Modified:31 Jul 2019 20:24

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