Automatic Sign Reading and Localization for Semantic Mapping with an Office Robot

Semantic mapping is the task of providing a robot with a map of its environment beyond the open, navigable space of traditional Simultaneous Localization and Mapping (SLAM) algorithms by attaching semantics to locations. The system presented in this work reads door placards to annotate the locations...

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Bibliographic Details
Published in:arXiv.org 2022-09
Main Authors: Balaban, David, Hart, Justin
Format: Article
Language:English
Subjects:
Algorithms
Robots
Semantics
Simultaneous localization and mapping
Video post-production
Online Access:Get full text
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Summary:Semantic mapping is the task of providing a robot with a map of its environment beyond the open, navigable space of traditional Simultaneous Localization and Mapping (SLAM) algorithms by attaching semantics to locations. The system presented in this work reads door placards to annotate the locations of offices. Whereas prior work on this system developed hand-crafted detectors, this system leverages YOLOv5 for sign detection and EAST for text recognition. Placards are localized by computing their pose from a point cloud in a RGB-D camera frame localized by a modified ORB-SLAM. Semantic mapping is accomplished in a post-processing step after robot exploration from video recording. System performance is reported in terms of the number of placards identified, the accuracy of their placement onto a SLAM map, the accuracy of the map built, and the correctness transcribed placard text.
ISSN:2331-8422