Indoor autonomous robot navigation by using visually grounded semantic instructions
Navigation is becoming an increasingly substantial part of autonomy in robotics. As the capability of robots is continually researched and developed towards increasing complex tasks, navigation has become a topic that many are diving into. There has been numerous developments in navigation, from usi...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2022
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| Online Access: | https://hdl.handle.net/10356/158164 |
| _version_ | 1824454736688971776 |
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| author | Tan, Mei Yu |
| author2 | Soong Boon Hee |
| author_facet | Soong Boon Hee Tan, Mei Yu |
| author_sort | Tan, Mei Yu |
| collection | NTU |
| description | Navigation is becoming an increasingly substantial part of autonomy in robotics. As the capability of robots is continually researched and developed towards increasing complex tasks, navigation has become a topic that many are diving into. There has been numerous developments in navigation, from using Simultaneous Localization and Mapping to build maps in navigation, to exploring other forms of maps like Topological, Semantics and even Abstract maps. This project will work towards exploring a different kind of navigation that is essentially map-less. This is especially useful in foreign environments that the robot have no knowledge on whatsoever.
More specifically, this project focuses on defining the navigation goal as a mere string, of either a room name or a unit number. Without a map as a reference, the robot is forced to rely on extracting text information from its surrounding to identify its goal. Although the focus of this project is on goal-oriented navigation using text from the environment, the idea being explored in this project could be applied to many different functions and even used together with other existing work. This study is similar to previous work on extracting directional instructions for the robot to follow by extracting information from signs with the exception that it focus on finding the goal by verifying different potential end points, which are doors in this case, in the environment. |
| first_indexed | 2025-02-19T03:27:03Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/158164 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2025-02-19T03:27:03Z |
| publishDate | 2022 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1581642023-07-07T19:24:34Z Indoor autonomous robot navigation by using visually grounded semantic instructions Tan, Mei Yu Soong Boon Hee School of Electrical and Electronic Engineering A*STAR Institute of Material Research and Engineering EBHSOONG@ntu.edu.sg Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Navigation is becoming an increasingly substantial part of autonomy in robotics. As the capability of robots is continually researched and developed towards increasing complex tasks, navigation has become a topic that many are diving into. There has been numerous developments in navigation, from using Simultaneous Localization and Mapping to build maps in navigation, to exploring other forms of maps like Topological, Semantics and even Abstract maps. This project will work towards exploring a different kind of navigation that is essentially map-less. This is especially useful in foreign environments that the robot have no knowledge on whatsoever. More specifically, this project focuses on defining the navigation goal as a mere string, of either a room name or a unit number. Without a map as a reference, the robot is forced to rely on extracting text information from its surrounding to identify its goal. Although the focus of this project is on goal-oriented navigation using text from the environment, the idea being explored in this project could be applied to many different functions and even used together with other existing work. This study is similar to previous work on extracting directional instructions for the robot to follow by extracting information from signs with the exception that it focus on finding the goal by verifying different potential end points, which are doors in this case, in the environment. Bachelor of Engineering (Electrical and Electronic Engineering) 2022-05-30T07:58:00Z 2022-05-30T07:58:00Z 2022 Final Year Project (FYP) Tan, M. Y. (2022). Indoor autonomous robot navigation by using visually grounded semantic instructions. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/158164 https://hdl.handle.net/10356/158164 en B3204-211 application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Tan, Mei Yu Indoor autonomous robot navigation by using visually grounded semantic instructions |
| title | Indoor autonomous robot navigation by using visually grounded semantic instructions |
| title_full | Indoor autonomous robot navigation by using visually grounded semantic instructions |
| title_fullStr | Indoor autonomous robot navigation by using visually grounded semantic instructions |
| title_full_unstemmed | Indoor autonomous robot navigation by using visually grounded semantic instructions |
| title_short | Indoor autonomous robot navigation by using visually grounded semantic instructions |
| title_sort | indoor autonomous robot navigation by using visually grounded semantic instructions |
| topic | Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics |
| url | https://hdl.handle.net/10356/158164 |
| work_keys_str_mv | AT tanmeiyu indoorautonomousrobotnavigationbyusingvisuallygroundedsemanticinstructions |