This work attempts to develop a method for SLAM using semantics based on FastSLAM 2.0. Our approach to semantic mapping consists of segmenting images obtained from two sensors (optical and radar) aboard a UAV. We then identify landmarks within the segmented image, followed by the construction of relational trees with the landmarks; these trees are then used at consecutive time-steps of the robot’s motion for its localization as well as update of the landmarks. The term semantics has been used for region-landmarks which are validated with a look-up table (LUT) of the predefined surface type information, a superset of the robot’s actual environment. Finally, based on particle filters, the posterior density of the state of the robot is estimated and a 2-D semantics map is constructed. The methodology has been tested in a situation wherein the robot’s true environment and path have been simulated. For simulation we consider satellite images of optical and radar sensors of the robot’s environment. At different time-steps the robot’s images are cropped from these images, incorporating errors in the robot’s control information. Experiments carried out on the simulated environment have provided encouraging results.


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    Title :

    SLAM Using Relational Trees and Semantics



    Published in:

    Advanced Materials Research ; 452-453 ; 648-653


    Publication date :

    2012-01-24


    Size :

    6 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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