Fast Hybrid Relocation in Large Scale Metric-Topologic-Semantic Map

Romain Drouilly (1, 2) , Patrick Rives (1) , Benoit Morisset (2)

1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
2 ECA Robotics [Toulon]

Navigation in large scale environments is challeng- ing because it requires accurate local map and global relocation ability. We present a new hybrid metric-topological-semantic map structure, called MTS-map, that allows a fine metric-based navigation and fast coarse query-based localisation. It consists of local sub-maps connected through two topological layers at metric and semantic levels. Semantic information is used to build concise local graph-based descriptions of sub-maps. We propose a robust and efficient algorithm that relies on MTS-map structure and semantic description of sub-maps to relocate very fast. We combine the discriminative power of semantics with the robustness of an interpretation tree to compare the graphs very fast and outperform state-of-the-art-techniques. The proposed approach is tested on a challenging dataset composed of more than 13000 real world images where we demonstrate the ability to relocate within 0.12ms.

Domaines: Robotique [cs.RO]

Romain Drouilly, Patrick Rives, Benoit Morisset. Fast Hybrid Relocation in Large Scale Metric-Topologic-Semantic Map. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'14, Sep 2014, Chicago, United States. ⟨hal-01010231⟩