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基于QRcode技术的家庭半未知环境语义地图构建

, PP. 464-470

Keywords: 半未知环境,谱聚类,语义地图,服务机器人

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Abstract:

根据家庭环境中机器人特有的服务任务和人机交互要求,结合大物品上粘贴的基于QRcode技术的自相似人工物标,构建半未知环境的以房间为单位的语义地图。首先基于谱聚类算法构建具有房间分割功能的拓扑地图。再利用QRcode中存储的物品信息,建立物品信息库和物品归属关联图,最终获得包含物品信息描述、房间功能描述及物品-房间归属关系的语义地图。该地图为家庭环境中物品的搜寻、管理和机器人服务提供完备的、拟人化的信息。仿真实验表明,基于语义地图机器人能理解人的语义命令,生成合理的服务路径,实现功能驱动的导航。

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