A novel semantic SLAM framework for humanlike high-level interaction and planning in global environment

Sumaira Manzoor; Sung Hyeon Joo; Yuri Goncalves Rocha; Hyun Uk Lee; Tae Yong Kuc

A novel semantic SLAM framework for humanlike high-level interaction and planning in global environment

Sumaira Manzoor
, Sung Hyeon Joo
, Yuri Goncalves Rocha
, Hyun Uk Lee
, Tae Yong Kuc

Department of Electronic and Electrical Engineering

Sungkyunkwan University

Research output: Contribution to journal › Conference article › peer-review

Abstract

In this paper, we propose a novel semantic SLAM framework based on human cognitive skills and capabilities that endow the robot with high level interaction and planning in real-world dynamic environment. Two-fold strengths of our framework aims at contributing: 1) A semantic map resulting from the integration of SLAM with the Triplet Ontological Semantic Model (TOSM); 2) Human-like robotic perception system that is optimal and biologically plausible for place and object recognition in dynamic environment proposing semantic descriptor and CNN .We demonstrate the effectiveness of our proposed framework using mobile robot with Zed camera (3D sensor) and a laser range finder (2D sensor) in real-world indoor environment. Experimental results demonstrate the practical merit of our proposed framework.

Original language	English
Pages (from-to)	10-21
Number of pages	12
Journal	CEUR Workshop Proceedings
Volume	2487
State	Published - 2019
Event	Joint 1st International Workshop on the Semantic Descriptor, Semantic Modeling and Mapping for Humanlike Perception and Navigation of Mobile Robots toward Large Scale Long-Term Autonomy and the 3rd International Workshop on the Applications of Knowledge Representation and Semantic Technologies in Robotics, SDMM 2019 and AnSWeR 2019 - Macau, China Duration: 8 Nov 2019 → …

Cite this

@article{e9fcc0904bec4b78872d1996a05f07dc,

title = "A novel semantic SLAM framework for humanlike high-level interaction and planning in global environment",

abstract = "In this paper, we propose a novel semantic SLAM framework based on human cognitive skills and capabilities that endow the robot with high level interaction and planning in real-world dynamic environment. Two-fold strengths of our framework aims at contributing: 1) A semantic map resulting from the integration of SLAM with the Triplet Ontological Semantic Model (TOSM); 2) Human-like robotic perception system that is optimal and biologically plausible for place and object recognition in dynamic environment proposing semantic descriptor and CNN .We demonstrate the effectiveness of our proposed framework using mobile robot with Zed camera (3D sensor) and a laser range finder (2D sensor) in real-world indoor environment. Experimental results demonstrate the practical merit of our proposed framework.",

author = "Sumaira Manzoor and Joo, \{Sung Hyeon\} and Rocha, \{Yuri Goncalves\} and Lee, \{Hyun Uk\} and Kuc, \{Tae Yong\}",

note = "Publisher Copyright: Copyright {\textcopyright} 2019 by the paper{\textquoteright}s authors.; Joint 1st International Workshop on the Semantic Descriptor, Semantic Modeling and Mapping for Humanlike Perception and Navigation of Mobile Robots toward Large Scale Long-Term Autonomy and the 3rd International Workshop on the Applications of Knowledge Representation and Semantic Technologies in Robotics, SDMM 2019 and AnSWeR 2019 ; Conference date: 08-11-2019",

year = "2019",

language = "English",

volume = "2487",

pages = "10--21",

journal = "CEUR Workshop Proceedings",

issn = "1613-0073",

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TY - JOUR

T1 - A novel semantic SLAM framework for humanlike high-level interaction and planning in global environment

AU - Manzoor, Sumaira

AU - Joo, Sung Hyeon

AU - Rocha, Yuri Goncalves

AU - Lee, Hyun Uk

AU - Kuc, Tae Yong

PY - 2019

Y1 - 2019

N2 - In this paper, we propose a novel semantic SLAM framework based on human cognitive skills and capabilities that endow the robot with high level interaction and planning in real-world dynamic environment. Two-fold strengths of our framework aims at contributing: 1) A semantic map resulting from the integration of SLAM with the Triplet Ontological Semantic Model (TOSM); 2) Human-like robotic perception system that is optimal and biologically plausible for place and object recognition in dynamic environment proposing semantic descriptor and CNN .We demonstrate the effectiveness of our proposed framework using mobile robot with Zed camera (3D sensor) and a laser range finder (2D sensor) in real-world indoor environment. Experimental results demonstrate the practical merit of our proposed framework.

AB - In this paper, we propose a novel semantic SLAM framework based on human cognitive skills and capabilities that endow the robot with high level interaction and planning in real-world dynamic environment. Two-fold strengths of our framework aims at contributing: 1) A semantic map resulting from the integration of SLAM with the Triplet Ontological Semantic Model (TOSM); 2) Human-like robotic perception system that is optimal and biologically plausible for place and object recognition in dynamic environment proposing semantic descriptor and CNN .We demonstrate the effectiveness of our proposed framework using mobile robot with Zed camera (3D sensor) and a laser range finder (2D sensor) in real-world indoor environment. Experimental results demonstrate the practical merit of our proposed framework.

UR - https://www.scopus.com/pages/publications/85074659031

M3 - Conference article

AN - SCOPUS:85074659031

SN - 1613-0073

VL - 2487

SP - 10

EP - 21

JO - CEUR Workshop Proceedings

JF - CEUR Workshop Proceedings

T2 - Joint 1st International Workshop on the Semantic Descriptor, Semantic Modeling and Mapping for Humanlike Perception and Navigation of Mobile Robots toward Large Scale Long-Term Autonomy and the 3rd International Workshop on the Applications of Knowledge Representation and Semantic Technologies in Robotics, SDMM 2019 and AnSWeR 2019

Y2 - 8 November 2019

ER -

A novel semantic SLAM framework for humanlike high-level interaction and planning in global environment

Abstract

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