Research on 3D semantic map based on SLAM and YOLOv4

Lijuan Qi; Zeqi Ma

doi:10.1117/12.2675166

25 May 2023 Research on 3D semantic map based on SLAM and YOLOv4

Lijuan Qi, Zeqi Ma

Proceedings Volume 12636, Third International Conference on Machine Learning and Computer Application (ICMLCA 2022); 126362Y (2023) https://doi.org/10.1117/12.2675166
Event: Third International Conference on Machine Learning and Computer Application (ICMLCA 2022), 2022, Shenyang, China

Abstract

To enable mobile robots to perform different tasks intelligently and autonomously in different work scenarios, we usually use SLAM to achieve simultaneous localization and map building of the robot mainly using to complete the functions. Localization and mapping are done only by detecting and matching feature points in the image, which only utilizes the geometric information in the environment and cannot obtain the linguistic information in the environment, resulting in the robot not being able to perceive the surrounding environment well. Location and mapping can only be done by detecting and matching the feature points in the image. Only the geometric information in the environment is used, and the linguistic information in the environment cannot be obtained, which makes the robot unable to perceive the environment well. In this paper, a three-dimensional semantic map is implemented based on the system design. The data uses RGBD image sequence, and the target detection algorithm YOLOv4 is applied to ORB-SLAM2 system to extract the semantic information in the environment. A three-dimensional dense point cloud map constructed by ORB-SALM2 system is segmented using an improved LCCP algorithm. Semantic information in the environment is projected to the three-dimensional point cloud according to the globally consistent camera posture, and a three-dimensional dense point cloud map with semantic information is constructed.

Citation Download Citation

Lijuan Qi and Zeqi Ma "Research on 3D semantic map based on SLAM and YOLOv4", Proc. SPIE 12636, Third International Conference on Machine Learning and Computer Application (ICMLCA 2022), 126362Y (25 May 2023); https://doi.org/10.1117/12.2675166

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
5 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Semantics

Point clouds

Environmental sensing

Visualization

Cameras

Detection and tracking algorithms

Target detection

Show All Keywords

Keywords/Phrases

Search In:

Publication Years