arXiv:2410.12362cs.RO2024-10
让机器人长期精准定位，像人一样适应环境变化。
Human-Inspired Long-Term Indoor Localization in Human-Oriented Environment
- 利用地图和语义信息融合提升定位稳定性
- 在跨月时长的复杂环境中验证效果
- 开源实现，适合服务机器人研发者参考
长期定位对服务机器人的自主运行至关重要。本文综述了我们在长期定位与建图方面的过往研究，通过利用地板图等几何先验，并融合文本与语义信息。该方法在持续数月的挑战性序列上得到验证，并已发布开源实现。
原文摘要 · Abstract (English)
Lifelong localization is crucial for enabling the autonomy of service robots. In this paper, we present an overview of our past research on long-term localization and mapping, exploiting geometric priors such as floor plans and integrating textual and semantic information. Our approach was validated on challenging sequences spanning over many months, and we released open source implementations.
长期定位服务机器人语义地图
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