Multi-sensor semantic mapping and exploration of indoor environments

Islem Jebari; Stéphane Bazeille; Emmanuel Battesti; Hassene Tekaya; Marius Klein; Adriana Tapus; David Filliat; Cédric Meyer; Sio Hoï Ieng; Ryad Benosman; Eddy Cizeron; Jean Charles Mamanna; Benoit Pothier

doi:10.1109/TEPRA.2011.5753498

Multi-sensor semantic mapping and exploration of indoor environments

Islem Jebari, Stéphane Bazeille, Emmanuel Battesti, Hassene Tekaya, Marius Klein, Adriana Tapus, David Filliat, Cédric Meyer, Sio Hoï Ieng, Ryad Benosman, Eddy Cizeron, Jean Charles Mamanna, Benoit Pothier

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The human perception of the external world appears as a natural, immediate and effortless task. It is achieved through a number of low-level sensory-motor processes that provide a high-level representation adapted to complex reasoning and decision. Compared to these representations, mobile robots usually provide only low-level obstacle maps that lack such highlevel information. We present a mobile robot whose goal is to autonomously explore an unknown indoor environment and to build a semantic map containing high-level information similar to those extracted by humans and that will be rapidly and easily interpreted by users to assess the situation. This robot was developed under the Panoramic and Active Camera for Object Mapping (PACOM)¹ project whose goal is to participate in a French exploration and mapping contest called CAROTTE ². We will detail in particular how we integrated visual object recognition, room detection, semantic mapping, and exploration. We demonstrate the performances of our system in an indoor environment.

Original language	English
Title of host publication	2011 IEEE Conference on Technologies for Practical Robot Applications, TePRA 2011
Pages	151-156
Number of pages	6
DOIs	https://doi.org/10.1109/TEPRA.2011.5753498
Publication status	Published - 23 May 2011
Event	2011 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2011 - Woburn, MA, United States Duration: 11 Apr 2011 → 12 Apr 2011

Publication series

Name	2011 IEEE Conference on Technologies for Practical Robot Applications, TePRA 2011

Conference

Conference	2011 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2011
Country/Territory	United States
City	Woburn, MA
Period	11/04/11 → 12/04/11

Keywords

SLAM
autonomous exploration
object detection
semantic mapping

Access to Document

10.1109/TEPRA.2011.5753498

Cite this

Jebari, I., Bazeille, S., Battesti, E., Tekaya, H., Klein, M., Tapus, A., Filliat, D., Meyer, C., Ieng, S. H., Benosman, R., Cizeron, E., Mamanna, J. C., & Pothier, B. (2011). Multi-sensor semantic mapping and exploration of indoor environments. In 2011 IEEE Conference on Technologies for Practical Robot Applications, TePRA 2011 (pp. 151-156). Article 5753498 (2011 IEEE Conference on Technologies for Practical Robot Applications, TePRA 2011). https://doi.org/10.1109/TEPRA.2011.5753498

@inproceedings{d151ce1d7ff540fc97ec83b5f7255eea,

title = "Multi-sensor semantic mapping and exploration of indoor environments",

abstract = "The human perception of the external world appears as a natural, immediate and effortless task. It is achieved through a number of low-level sensory-motor processes that provide a high-level representation adapted to complex reasoning and decision. Compared to these representations, mobile robots usually provide only low-level obstacle maps that lack such highlevel information. We present a mobile robot whose goal is to autonomously explore an unknown indoor environment and to build a semantic map containing high-level information similar to those extracted by humans and that will be rapidly and easily interpreted by users to assess the situation. This robot was developed under the Panoramic and Active Camera for Object Mapping (PACOM)1 project whose goal is to participate in a French exploration and mapping contest called CAROTTE 2. We will detail in particular how we integrated visual object recognition, room detection, semantic mapping, and exploration. We demonstrate the performances of our system in an indoor environment.",

keywords = "SLAM, autonomous exploration, object detection, semantic mapping",

author = "Islem Jebari and St{\'e}phane Bazeille and Emmanuel Battesti and Hassene Tekaya and Marius Klein and Adriana Tapus and David Filliat and C{\'e}dric Meyer and Ieng, \{Sio Ho{\"i}\} and Ryad Benosman and Eddy Cizeron and Mamanna, \{Jean Charles\} and Benoit Pothier",

year = "2011",

month = may,

day = "23",

doi = "10.1109/TEPRA.2011.5753498",

language = "English",

isbn = "9781612844824",

series = "2011 IEEE Conference on Technologies for Practical Robot Applications, TePRA 2011",

pages = "151--156",

booktitle = "2011 IEEE Conference on Technologies for Practical Robot Applications, TePRA 2011",

note = "2011 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2011 ; Conference date: 11-04-2011 Through 12-04-2011",

}

Jebari, I, Bazeille, S, Battesti, E, Tekaya, H, Klein, M, Tapus, A , Filliat, D, Meyer, C, Ieng, SH, Benosman, R, Cizeron, E, Mamanna, JC & Pothier, B 2011, Multi-sensor semantic mapping and exploration of indoor environments. in 2011 IEEE Conference on Technologies for Practical Robot Applications, TePRA 2011., 5753498, 2011 IEEE Conference on Technologies for Practical Robot Applications, TePRA 2011, pp. 151-156, 2011 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2011, Woburn, MA, United States, 11/04/11. https://doi.org/10.1109/TEPRA.2011.5753498

Multi-sensor semantic mapping and exploration of indoor environments. / Jebari, Islem; Bazeille, Stéphane; Battesti, Emmanuel et al.
2011 IEEE Conference on Technologies for Practical Robot Applications, TePRA 2011. 2011. p. 151-156 5753498 (2011 IEEE Conference on Technologies for Practical Robot Applications, TePRA 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Multi-sensor semantic mapping and exploration of indoor environments

AU - Jebari, Islem

AU - Bazeille, Stéphane

AU - Battesti, Emmanuel

AU - Tekaya, Hassene

AU - Klein, Marius

AU - Tapus, Adriana

AU - Filliat, David

AU - Meyer, Cédric

AU - Ieng, Sio Hoï

AU - Benosman, Ryad

AU - Cizeron, Eddy

AU - Mamanna, Jean Charles

AU - Pothier, Benoit

PY - 2011/5/23

Y1 - 2011/5/23

N2 - The human perception of the external world appears as a natural, immediate and effortless task. It is achieved through a number of low-level sensory-motor processes that provide a high-level representation adapted to complex reasoning and decision. Compared to these representations, mobile robots usually provide only low-level obstacle maps that lack such highlevel information. We present a mobile robot whose goal is to autonomously explore an unknown indoor environment and to build a semantic map containing high-level information similar to those extracted by humans and that will be rapidly and easily interpreted by users to assess the situation. This robot was developed under the Panoramic and Active Camera for Object Mapping (PACOM)1 project whose goal is to participate in a French exploration and mapping contest called CAROTTE 2. We will detail in particular how we integrated visual object recognition, room detection, semantic mapping, and exploration. We demonstrate the performances of our system in an indoor environment.

AB - The human perception of the external world appears as a natural, immediate and effortless task. It is achieved through a number of low-level sensory-motor processes that provide a high-level representation adapted to complex reasoning and decision. Compared to these representations, mobile robots usually provide only low-level obstacle maps that lack such highlevel information. We present a mobile robot whose goal is to autonomously explore an unknown indoor environment and to build a semantic map containing high-level information similar to those extracted by humans and that will be rapidly and easily interpreted by users to assess the situation. This robot was developed under the Panoramic and Active Camera for Object Mapping (PACOM)1 project whose goal is to participate in a French exploration and mapping contest called CAROTTE 2. We will detail in particular how we integrated visual object recognition, room detection, semantic mapping, and exploration. We demonstrate the performances of our system in an indoor environment.

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KW - object detection

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DO - 10.1109/TEPRA.2011.5753498

M3 - Conference contribution

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SN - 9781612844824

T3 - 2011 IEEE Conference on Technologies for Practical Robot Applications, TePRA 2011

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EP - 156

BT - 2011 IEEE Conference on Technologies for Practical Robot Applications, TePRA 2011

T2 - 2011 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2011

Y2 - 11 April 2011 through 12 April 2011

ER -

Multi-sensor semantic mapping and exploration of indoor environments

Abstract

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Keywords

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