Aiming at problems of robot scene recognition in indoor environment,a senmantic mapping algorithm is proposed,autonomy,realtime and accuracy of scene classification strategy are focused on. Two-dimensional grid map is constructed by mapping depth information and autonomously plan recognition path of scene. Convolutional network is applied to set up scene categorization model,recognize semantic classes without specific training in realtime. By Bayesian framework fusing prior knowledge,modify error classifica...
0引言针对室内非结构化环境,移动机器人不仅需要局部避障和自主导航能力,更需要自适应的环境理解能力[1]。相对传统同时同步与定位(simultaneous localization and map-ping,SLAM)解决的定位问题,机器人需及时提取场景中语义信息,从而协助高层决策过程,达到减弱人为干涉及指导?
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