Autonomous Apartment Exploration, Modelling and Segmentation for Service Robotics

This work proposes a full pipeline for a robot to explore, model and segment an apartment from a 2-D map. Viewpoints are found offline and then visited by the robot to create a 3-D model of the environment. This model is segmented in order to find the various rooms and how they are linked (windows,...

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Bibliographic Details
Main Authors: Manfredi, Guido, Devin, Sandra, Devy, Michel, Sidobre, Daniel
Format: Conference Proceeding
Language:English
Subjects:
Autonomous
Exploration
Modeling
Segmentation
Service Robotics
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Summary:This work proposes a full pipeline for a robot to explore, model and segment an apartment from a 2-D map. Viewpoints are found offline and then visited by the robot to create a 3-D model of the environment. This model is segmented in order to find the various rooms and how they are linked (windows, doors, walls) yielding a topological map. Moreover areas of interest are also segmented, in this case furniture’s planar surfaces. The method is validated on a realistic three rooms apartment. Results show that, despite occlusion, autonomous exploration and modeling covers 95% of the apartment. For the segmentation part, 1 link out of 14 is wrongly classified while all the existing areas of interest are found.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2016.07.719