Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
In this paper, a robust mapping method considering the space status of real-life environment is proposed. A 2D map is generated by Simultaneous Localization and Mapping (SLAM) based on gmapping. The objects in the 3D space are recognized by deep learning method YOLO and reflected to the 2D map. The 2D map contains the 3D shape information of the objects so that the robot can plan its path more accurately without collisions with objects and entering the places where the spaces are potentially occupied by the objects (e.g. the spaces under desks).
