论文标题
使用Office机器人的语义映射的自动标志阅读和本地化
Automatic Sign Reading and Localization for Semantic Mapping with an Office Robot
论文作者
论文摘要
语义映射是为机器人提供环境地图的任务，超出了传统同时定位和映射（SLAM）算法的开放空间，通过将语义附加到位置上。这项工作中介绍的系统读取门标，以注释办公室的位置。尽管该系统的先前工作开发了手工制作的探测器，但该系统利用Yolov5进行符号检测，向东向EAST进行文本识别。标语是通过从点云中计算出由修改后的球形链接定位的RGB-D相机框架中的点云来局部定位的。语义映射是在视频录制的机器人探索后的后处理步骤中完成的。根据确定的标语牌数量，将其放置在大量地图上的准确性，构建地图的准确性以及正确性转录的标语牌文本的准确性报告。
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.
