Jiao, Jianhao;
Geng, Ruoyu;
Li, Yuanhang;
Xin, Ren;
Yang, Bowen;
Wu, Jin;
Wang, Lujia;
... Kanoulas, Dimitrios; + view all
(2024)
Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments.
IEEE Transactions on Automation Science and Engineering
(In press).
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Abstract
The creation of a metric-semantic map, which encodes human-prior knowledge, represents a high-level abstraction of environments. However, constructing such a map poses challenges related to the fusion of multi-modal sensor data, the attainment of real-time mapping performance, and the preservation of structural and semantic information consistency. In this paper, we introduce an online metric-semantic mapping system that utilizes LiDAR-Visual-Inertial sensing to generate a global metric-semantic mesh map of large-scale outdoor environments. Leveraging GPU acceleration, our mapping process achieves exceptional speed, with frame processing taking less than 7ms, regardless of scenario scale. Furthermore, we seamlessly integrate the resultant map into a real-world navigation system, enabling metric-semantic-based terrain assessment and autonomous pointto-point navigation within a campus environment. Through extensive experiments conducted on both publicly available and self-collected datasets comprising 24 sequences, we demonstrate the effectiveness of our mapping and navigation methodologies.
| Type: | Article |
|---|---|
| Title: | Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments |
| Open access status: | An open access version is available from UCL Discovery |
| Publisher version: | https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?pu... |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Autonomous Driving, Mapping, Navigation |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10194629 |
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