Semantic mapping extension for OpenStreetMap applied to indoor robot navigation

Naik, Lakshadeep; Blumenthal, Sebastian; Huebel, Nico; Bruyninckx, Herman; Prassler, Erwin

doi:10.1109/icra.2019.8793641

Cited by 24 publications

(12 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…As stated earlier, we determine the applicable set of hypotheses from a semantic map, which is assumed to be known a priori. Within this semantic map, the concept of areas is adopted as proposed by [ 26 , 27 ]. In general, areas serve as abstract conventions to allow humans and robots to indicate particular parts of the spatial domain [ 27 ].…”

Section: Methodsmentioning

confidence: 99%

See 1 more Smart Citation

A Probabilistic Model for Real-Time Semantic Prediction of Human Motion Intentions from RGBD-Data

Houtman

Bijlenga

Torta

et al. 2021

Sensors

View full text Add to dashboard Cite

For robots to execute their navigation tasks both fast and safely in the presence of humans, it is necessary to make predictions about the route those humans intend to follow. Within this work, a model-based method is proposed that relates human motion behavior perceived from RGBD input to the constraints imposed by the environment by considering typical human routing alternatives. Multiple hypotheses about routing options of a human towards local semantic goal locations are created and validated, including explicit collision avoidance routes. It is demonstrated, with real-time, real-life experiments, that a coarse discretization based on the semantics of the environment suffices to make a proper distinction between a person going, for example, to the left or the right on an intersection. As such, a scalable and explainable solution is presented, which is suitable for incorporation within navigation algorithms.

show abstract

Section: Methodsmentioning

confidence: 99%

“…A dense discretization is applied, which does not scale well. In contrast, our work considers a course discretization by applying areas as a mapping concept [ 26 ]. The areas are not physical, but serve as abstract conventions to allow humans and robots to indicate particular parts of the spatial domain [ 27 ].…”

Section: Related Workmentioning

confidence: 99%

A Probabilistic Model for Real-Time Semantic Prediction of Human Motion Intentions from RGBD-Data

Houtman

Bijlenga

Torta

et al. 2021

Sensors

View full text Add to dashboard Cite

show abstract

“…Naik et al proposed OSM-based indoor data for robot navigation and generated a primitive OGM for that purpose [41]. This generation methodology involves only a limited set of objects, namely information about rooms and corridors.…”

Section: Occupancy Grid Mapsmentioning

confidence: 99%

Improved Indoor Positioning by Means of Occupancy Grid Maps Automatically Generated from OSM Indoor Data

Graichen

Richter

Schmidt

et al. 2021

IJGI

View full text Add to dashboard Cite

In recent years, there is a growing interest in indoor positioning due to the increasing amount of applications that employ position data. Current approaches determining the location of objects in indoor environments are facing problems with the accuracy of the sensor data used for positioning. A solution to compensate inaccurate and unreliable sensor data is to include further information about the objects to be positioned and about the environment into the positioning algorithm. For this purpose, occupancy grid maps (OGMs) can be used to correct such noisy data by modelling the occupancy probability of objects being at a certain location in a specific environment. In that way, improbable sensor measurements can be corrected. Previous approaches, however, have focussed only on OGM generation for outdoor environments or require manual steps. There remains need for research examining the automatic generation of OGMs from detailed indoor map data. Therefore, our study proposes an algorithm for automated OGM generation using crowd-sourced OpenStreetMap indoor data. Subsequently, we propose an algorithm to improve positioning results by means of the generated OGM data. In our study, we used positioning data from an Ultra-wideband (UWB) system. Our experiments with nine different building map datasets showed that the proposed method provides reliable OGM outputs. Furthermore, taking one of these generated OGMs as an example, we demonstrated that integrating OGMs in the positioning algorithm increases the positioning accuracy. Consequently, the proposed algorithms now enable the integration of environmental information into positioning algorithms to finally increase the accuracy of indoor positioning applications.

show abstract

“…There was a mobile indoor navigation system compatible with OSM in 2013 [8], and we saw a smart city implementation of OSM, including IndoorOSM draft and a mobile indoor navigation tool, in 2014 [9]. Some important projects in OSM are: Open-StationMap 9 ; an extension for building 3D representation 10 ; a draft to combine existing indoor mapping approaches with outdoor 3D building modeling 11 ; or using a semantic mapping extension for OSM applied to indoor robot navigation [10].…”

Section: Standard Indoor Map Formats and Models A Indoor Openstrmentioning

confidence: 99%

Survey on Indoor Map Standards and Formats

Zlatanova

Torres-Sospedra

et al. 2019

2019 International Conference on Indoor Positioning and Indoor Navigation (IPIN)

View full text Add to dashboard Cite

With the adoption of indoor positioning solutions, which enable for a variety of location-based spatial services, a number of indoor map standards and formats have been proposed in the last decade. As each of these indoor map standard has its own purpose, the strengths and weaknesses are necessary to be understood and analyzed before selecting one of them for a given application. The Indoor Map Subcommittee has been established under IPIN/ISC in 2017. Among others, the goal of this working group is to compare available indoor map standards, provide a guideline for their application and advise on changes to their standardization development organizations if necessary. In this paper we present a survey of indoor map standards as an achievement of the subcommittee. The scope of the survey covers official standards such as IFC of BuildingSmart, IndoorGML and CityGML of OGC, and Indoor OpenStreetMap. We present several use-cases to show and discuss how to build indoor maps.

show abstract

Semantic mapping extension for OpenStreetMap applied to indoor robot navigation

Cited by 24 publications

References 20 publications

A Probabilistic Model for Real-Time Semantic Prediction of Human Motion Intentions from RGBD-Data

A Probabilistic Model for Real-Time Semantic Prediction of Human Motion Intentions from RGBD-Data

Improved Indoor Positioning by Means of Occupancy Grid Maps Automatically Generated from OSM Indoor Data

Survey on Indoor Map Standards and Formats

Contact Info

Product

Resources

About