https://pxy.netlify.app/post/PostsWowchemy (https://wowchemy.com)en-us怕什么真理无穷，进一寸有一寸的欢喜！https://pxy.netlify.app/images/icon_hu071133a86d0f79aa79370b4e70dba59c_37608_512x512_fill_lanczos_center_2.pnghttps://pxy.netlify.app/post/https://pxy.netlify.app/post/getting-started/Tue, 01 Mar 2022 00:00:00 +0000https://pxy.netlify.app/post/getting-started/<h2 id="overview">Overview</h2> <p>Autonomous mobile robots usually need an object-level map for better reasoning and decision-making. However, the changes of scene objects make it difficult to reuse map and lack of lightweight system solutions. In this paper, an object-level data association method is proposed to construct object-level map for lightweight and low-cost application scenarios. Specifically, we maintain a sparse point cloud map using only a monocular camera. Based on the feature tracking information of ORB-SLAM2, this method introduces semantic information to associate data in parallel and reduce the extra computational burden. Then, we propose a change detection method for autonomous updating of robot map. We are pioneering in the object level of the environment change detection and map update, to achieve the unity of object level mapping and update. which ensures the consistency and integrity of updated parts. The proposed method has been extensively tested on multiple public data sets and a real robot. The results show that the effect of data association reaches the latest level and is superior to the similar methods in time and space complexity. And the detection rate of object change reached 83.75%. In addition, we have implemented a lightweight robot system. Frame rate reached 20 FPS when using only half the system resources.</p> <p>The contributions of this paper are as follows:</p> <ol> <li>A lightweight data association method. Using the spatial relation of map points and combining with the mutex table we proposed.</li> <li>A lightweight change detection and map update method. Object-level updates ensure the consistency and integrity of updates.</li> <li>A real-time system. For object-level semantic awareness tasks and low-cost hardware platform requirements, the unification of map building, change detection and update is realized.</li> <li>Our method was deployed and extensively tested on a robot with a low-power embedded platform. The validity, lightness and excellence of the method are proved.</li> </ol> <!-- <figure id="figure-the-template-is-mobile-first-with-a-responsive-design-to-ensure-that-your-site-looks-stunning-on-every-device"> <a data-fancybox="" href="https://github.com/pengxinyi-up/academic-page/blob/master/images/fig_system-structure.png" data-caption="The template is mobile first with a responsive design to ensure that your site looks stunning on every device."> <img src="https://github.com/pengxinyi-up/academic-page/blob/master/images/fig_system-structure.png" alt="" > </a> <figcaption> The template is mobile first with a responsive design to ensure that your site looks stunning on every device. </figcaption> </figure> --> <h2 id="展示视频">展示视频</h2> <h3 id="bilibili简版3分钟推荐httpswwwbilibilicomvideobv1ml4y1j7dvspm_id_from33399900"><a href="https://www.bilibili.com/video/BV1mL4y1j7dV?spm_id_from=333.999.0.0" target="_blank" rel="noopener">Bilibili，简版3分钟（推荐）</a></h3> <h3 id="bilibili详细版12分钟httpswwwbilibilicomvideobv1ol4y1j75rspm_id_from33399900"><a href="https://www.bilibili.com/video/BV1oL4y1j75R?spm_id_from=333.999.0.0" target="_blank" rel="noopener">Bilibili，详细版12分钟!</a></h3> <h2 id="展示海报">展示海报</h2> <p><img src="https://raw.githubusercontent.com/pengxinyi-up/academic-page/master/content/post/getting-started/robot.png" alt="机器人大赛" title="机器人大赛"> <img src="https://raw.githubusercontent.com/pengxinyi-up/academic-page/master/content/post/getting-started/EDC.png" alt="研电赛" title="研电赛"></p>