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Field and Service Robotics pp 281–296Cite as

Construction of Semantic Maps for Personal Mobility Robots in Dynamic Outdoor Environments

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 92))

Abstract

In this paper, a construction system of outdoor semantic maps by personal mobility robots that move in dynamic outdoor environments is proposed. The maps have topological forms based on understanding of road structures. That is, the nodes of maps are intersections, and arcs are roads between each pair of intersections. Topological framework significantly reduces computer resources, and enables consistent map building in environments which include loops. Trajectories of moving objects, landmarks, entrances of buildings, and traffic signs are added along each road. This framework enables personal mobility robots to recognize dangerous points or regions. The proposed system uses two laser range finders (LRFs) and one omni-directional camera. One LRF is swung by a tilt unit, and reconstruct 3D shapes of obstacles and the ground. The other LRF is fixed on the body of the robot, and is used for moving objects detection and tracking. The camera is used for localization and loop closings. We implemented the proposed system in a personal mobility robot, and demonstrated its effectiveness in outdoor environments.

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Authors and Affiliations

  1. Digital Human Research Center, National Institute of AIST, 2-3-26 Aomi, Koto-ku, Tokyo, Japan

    Naotaka Hatao & Satoshi Kagami

  2. Intelligent Systems Research Institute, National Institute of AIST, 1-1-1 Umezono, Tsukuba-shi, Ibaraki, Japan

    Ryo Hanai

  3. Faculty of Engineering, Shinshu University, 4-17-1 Wakasato, Nagano-shi, Nagano, Japan

    Kimitoshi Yamazaki

  4. Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1, Hongo, Bukyo-ku, Tokyo, Japan

    Masayuki Inaba

Authors
  1. Naotaka Hatao
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  2. Satoshi Kagami
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  3. Ryo Hanai
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  4. Kimitoshi Yamazaki
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  5. Masayuki Inaba
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Corresponding author

Correspondence to Naotaka Hatao .

Editor information

Editors and Affiliations

  1. Department of Aerospace Engineering, Tohoku University, Sendai, Japan

    Kazuya Yoshida

  2. Tohoku University Graduate School of Information Sciences, Sendai, Japan

    Satoshi Tadokoro

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© 2014 Springer-Verlag Berlin Heidelberg

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Hatao, N., Kagami, S., Hanai, R., Yamazaki, K., Inaba, M. (2014). Construction of Semantic Maps for Personal Mobility Robots in Dynamic Outdoor Environments. In: Yoshida, K., Tadokoro, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 92. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40686-7_19

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  • DOI: https://doi.org/10.1007/978-3-642-40686-7_19

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40685-0

  • Online ISBN: 978-3-642-40686-7

  • eBook Packages: EngineeringEngineering (R0)

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