2023 Fiscal Year Research-status Report
Development of Lifelong SLAM System for Service Robots using Deep Semantic Information
| Project/Area Number |
21K14115
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| Research Institution | Tohoku University |
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Principal Investigator |
Ravankar Ankit 東北大学, 工学研究科, 特任准教授 (40778528)
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| Project Period (FY) |
2021-04-01 – 2025-03-31
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| Keywords | Semantic SLAM / Probability Inferencing / Object Search / Path Planning / Navigation / Service Robot |
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| Outline of Annual Research Achievements |
In FY2023, we developed object search strategies for service robots in a simulated indoor living lab environment. We designed two distinct methods: one based on heuristic object search and the other on probabilistic inferencing. These techniques are crucial for tasks like object retrieval and detection in home like settings, where users might ask robots to locate specific items. Our approach integrated open-source datasets to train object classifications, incorporating them into our semantic life-long mapping framework.
Additionally, we created room and region classification algorithms to establish semantic connections between objects, places, and regions. This resulted in a three-layer semantic map, enhancing robot navigation and human robot interaction.
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| Current Status of Research Progress |
Current Status of Research Progress
2: Research has progressed on the whole more than it was originally planned.
Reason
The project is progressing smoothly but further experiments and data collection were required for evaluating the algorithms. This involved long-term data collection in the simulated living lab at Tohoku University. As a result, the project was extended for an year to complete the remaining task and gather the necessary empirical data.
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| Strategy for Future Research Activity |
This FY the plan is to do a long-term study inside the living lab and collecting large data for robot planning and navigation. The layered semantic navigation framework is already completed, and we plan to use it for testing object detection tasks for a service robot in the living lab. An evaluative comparison of searching using heuristic and by using probabilistic inferencing will be done and compared with base-line search algorithms. The results are planned to be published in two international journals before the end of the this fiscal year.
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| Causes of Carryover |
The remaining budget will be used to procure electrical supplies for repairs and storage drives for collecting and storing the data.
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