Autonomous Apartment Exploration, Modelling and Segmentation for Service Robotics. Issue 15 (2016)

• Record Type: Journal Article
• Authors: Manfredi, Guido; Devin, Sandra; Devy, Michel; Sidobre, Daniel
• Is Part Of: IFAC-PapersOnLine. Volume 49:Issue 15(2016)
• Page Start: 120
• Page End: 125
• Publication Date: 2016
• Subjects: Autonomous -- Exploration -- Modeling -- Segmentation -- Service Robotics; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2016.07.719
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: 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.