自动化学报2017，Vol.43Issue(4)：493-508,16.DOI:10.16383/j.aas.2017.c160350
机器人室内语义建图中的场所感知方法综述
Place Perception for Robot Indoor Semantic Mapping: A Survey
摘要
Abstract
Place perception is a key problem in the robot semantic map research area,and a comprehensive survey of place perception related to indoor semantic mapping is presented in this paper.Firstly,a descriptive definition of place concept is given according to the latest research literature.On the other hand,some similar terms and concepts involved in this research are discriminated in order to clarify the research object and theme.Then,the existing methods are classified in terms of the clues which are used to implement the place perception targets.There are mainly three categories:the methods based on geometry information of environmental layout,the methods based on visual information of environmental layout,and the methods based on user guiding information.Each category can be further divided into some sub-categories according to the characteristics of used information.Besides,some particular methods are also described as an additional category.The ideas and principles used in all methods for solving place perception problem are comprehensively introduced,and the characteristics and limitations of these methods are also pointed out.Finally,some potential issues are analyzed,and probable future research directions are discussed.关键词
场所分类/语义建图/室内语义地图/场所感知/语义场所标注Key words
Place categorization/semantic mapping/indoor semantic map/place perception/semantic place labeling引用本文复制引用
朱博,高翔,赵燕喃..机器人室内语义建图中的场所感知方法综述[J].自动化学报,2017,43(4):493-508,16.基金项目
国家自然科学基金(61603195),江苏省自然科学基金(BK20140878),南京邮电大学国家自然科学基金孵化项目(NY215131),南京邮电大学引进人才科研启动基金资助项目(NY214018)资助 （61603195）
Supported by National Natural Science Foundation of China (61603195),Natural Science Foundation of Jiangsu Province (BK20140878),Incubation Project for National Natural Science Foundation Project of Nanjing University of Posts and Telecommunications (NY215131),and Introduction of talent research start-up fund of NUPT (NY214018) （61603195）
