Semantic Mapping for Mobile Robots in Indoor Scenes: A Survey
Sensing and mapping its surroundings is an essential requirement for a mobile robot. Geometric maps endow robots with the capacity of basic tasks, e.g., navigation. To co-exist with human beings in indoor scenes, the need to attach semantic information to a geometric map, which is called a semantic...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-02-01
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| Series: | Information |
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| Online Access: | https://www.mdpi.com/2078-2489/12/2/92 |
| _version_ | 1797395670969090048 |
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| author | Xiaoning Han Shuailong Li Xiaohui Wang Weijia Zhou |
| author_facet | Xiaoning Han Shuailong Li Xiaohui Wang Weijia Zhou |
| author_sort | Xiaoning Han |
| collection | DOAJ |
| description | Sensing and mapping its surroundings is an essential requirement for a mobile robot. Geometric maps endow robots with the capacity of basic tasks, e.g., navigation. To co-exist with human beings in indoor scenes, the need to attach semantic information to a geometric map, which is called a semantic map, has been realized in the last two decades. A semantic map can help robots to behave in human rules, plan and perform advanced tasks, and communicate with humans on the conceptual level. This survey reviews methods about semantic mapping in indoor scenes. To begin with, we answered the question, what is a semantic map for mobile robots, by its definitions. After that, we reviewed works about each of the three modules of semantic mapping, i.e., spatial mapping, acquisition of semantic information, and map representation, respectively. Finally, though great progress has been made, there is a long way to implement semantic maps in advanced tasks for robots, thus challenges and potential future directions are discussed before a conclusion at last. |
| first_indexed | 2024-03-09T00:38:53Z |
| format | Article |
| id | doaj.art-d2e0ebd8644140bbbecaa3420d78df45 |
| institution | Directory Open Access Journal |
| issn | 2078-2489 |
| language | English |
| last_indexed | 2024-03-09T00:38:53Z |
| publishDate | 2021-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Information |
| spelling | doaj.art-d2e0ebd8644140bbbecaa3420d78df452023-12-11T18:01:07ZengMDPI AGInformation2078-24892021-02-011229210.3390/info12020092Semantic Mapping for Mobile Robots in Indoor Scenes: A SurveyXiaoning Han0Shuailong Li1Xiaohui Wang2Weijia Zhou3State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaSensing and mapping its surroundings is an essential requirement for a mobile robot. Geometric maps endow robots with the capacity of basic tasks, e.g., navigation. To co-exist with human beings in indoor scenes, the need to attach semantic information to a geometric map, which is called a semantic map, has been realized in the last two decades. A semantic map can help robots to behave in human rules, plan and perform advanced tasks, and communicate with humans on the conceptual level. This survey reviews methods about semantic mapping in indoor scenes. To begin with, we answered the question, what is a semantic map for mobile robots, by its definitions. After that, we reviewed works about each of the three modules of semantic mapping, i.e., spatial mapping, acquisition of semantic information, and map representation, respectively. Finally, though great progress has been made, there is a long way to implement semantic maps in advanced tasks for robots, thus challenges and potential future directions are discussed before a conclusion at last.https://www.mdpi.com/2078-2489/12/2/92semantic mappingmobile robotsindoor scenesacquisition of semantic informationmap representation |
| spellingShingle | Xiaoning Han Shuailong Li Xiaohui Wang Weijia Zhou Semantic Mapping for Mobile Robots in Indoor Scenes: A Survey Information semantic mapping mobile robots indoor scenes acquisition of semantic information map representation |
| title | Semantic Mapping for Mobile Robots in Indoor Scenes: A Survey |
| title_full | Semantic Mapping for Mobile Robots in Indoor Scenes: A Survey |
| title_fullStr | Semantic Mapping for Mobile Robots in Indoor Scenes: A Survey |
| title_full_unstemmed | Semantic Mapping for Mobile Robots in Indoor Scenes: A Survey |
| title_short | Semantic Mapping for Mobile Robots in Indoor Scenes: A Survey |
| title_sort | semantic mapping for mobile robots in indoor scenes a survey |
| topic | semantic mapping mobile robots indoor scenes acquisition of semantic information map representation |
| url | https://www.mdpi.com/2078-2489/12/2/92 |
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