Development of autonomous navigation system using 3D map with geometric and semantic information

Yoshihiro Aotani, Takashi Ienaga, Noriaki Machinaka, Yudai Sadakuni, Ryota Yamazaki, Yuki Hosoda, Ryota Sawahashi, Yoji Kuroda

Research output: Contribution to journalArticle

7 Citations (Scopus)

Abstract

This paper presents an autonomous navigation system. Our system is based on an accurate 3D map, which includes “geometric information” (e.g., curb, wall, street tree) and “semantic information” (e.g., sidewalk, roadway, crosswalk) extracted by environmental recognition. By using the semantic map, we can obtain the suitable area to keep away from un-desired places. Furthermore, by comparing the map with real-time 3D geometric information from LI-DAR, we obtain the robot position. To show the effectiveness of our system, we conduct a 3D semantic map construction experiment and driving test. The experiment results show that the proposed system enables accurate and highly reproducible localization and stable autonomous mobility.

Original languageEnglish
Pages (from-to)639-648
Number of pages10
JournalJournal of Robotics and Mechatronics
Volume29
Issue number4
DOIs
Publication statusPublished - Aug 2017

Keywords

  • 3D semantic map
  • Autonomous navigation robot
  • Localization

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