Efficient Semantic Mapping in Dynamic Environments

Christian Hofmann, Mathias Fichtner, Markus Lieret, Jörg Franke

2022

Abstract

Unmanned Aerial Vehicles (UAVs) are required to fulfill more and more complex tasks in indoor environments like inspection, stock-taking or transportation of goods. For these tasks, they need to percept objects and obstacles in the environment, navigate safely in it and sometimes even interact with it. A step towards generating a comprehensive environmental overview for robots are semantic maps. Nevertheless, UAVs have several constraints concerning size, weight and power consumption and thus computational resources. In this paper an efficient object-oriented semantic mapping approach suitable for UAVs and similar constrained robots in dynamic environments is proposed. The approach can be completely executed on a computer suited as onboard computer of an UAV. A map comprising semantic information and dynamic objects is generated and updated with update rate of more than 10 Hz.

Paper Citation

in Harvard Style

Hofmann C., Fichtner M., Lieret M. and Franke J. (2022). Efficient Semantic Mapping in Dynamic Environments. In Proceedings of the 17th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2022) - Volume 4: VISAPP; ISBN 978-989-758-555-5, SciTePress, pages 803-810. DOI: 10.5220/0010770200003124

in Bibtex Style

@conference{visapp22,
author={Christian Hofmann and Mathias Fichtner and Markus Lieret and Jörg Franke},
title={Efficient Semantic Mapping in Dynamic Environments},
booktitle={Proceedings of the 17th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2022) - Volume 4: VISAPP},
year={2022},
pages={803-810},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010770200003124},
isbn={978-989-758-555-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2022) - Volume 4: VISAPP
TI - Efficient Semantic Mapping in Dynamic Environments
SN - 978-989-758-555-5
AU - Hofmann C.
AU - Fichtner M.
AU - Lieret M.
AU - Franke J.
PY - 2022
SP - 803
EP - 810
DO - 10.5220/0010770200003124
PB - SciTePress