osmAG: Hierarchical Semantic Topometric Area Graph Maps in the OSM Format for Mobile Robotics

doi:10.1109/ROBIO58561.2023.10354976

	osmAG: Hierarchical Semantic Topometric Area Graph Maps in the OSM Format for Mobile Robotics
	Delin Feng; Chengqian Li; Yongqi, Zhang; Chen,Yu; Sören Schwertfeger
	2023-12-09
会议录名称	2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)
发表状态	已发表
DOI	10.1109/ROBIO58561.2023.10354976
摘要	Maps are essential to mobile robotics tasks like localization and planning. We propose the open street map (osm) XML based Area Graph file format to store hierarchical, topometric semantic multi-floor maps of indoor and outdoor environments, since currently no such format is popular within the robotics community. Building on-top of osm we leverage the available open source editing tools and libraries of osm, while adding the needed mobile robotics aspect with building-level obstacle representation yet very compact, topometric data that facilitates planning algorithms. Through the use of common osm keys as well as custom ones we leverage the power of semantic annotation to enable various applications. For example, we support planning based on robot capabilities, to take the locomotion mode and attributes in conjunction with the environment information into account. The provided C++ library is integrated into ROS. We evaluate the performance of osmAG using real data in a global path planning application on a very big osmAG map, demonstrating its convenience and effectiveness for mobile robots. © 2023 IEEE.
关键词	Location awareness Three-dimensional displays Navigation Semantics XML C++ languages Libraries
会议名称	2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023
会议地点	Koh Samui, Thailand
会议日期	4-9 Dec. 2023
URL	查看原文
收录类别	EI
语种	英语
出版者	Institute of Electrical and Electronics Engineers Inc.
EI入藏号	20240315404622
原始文献类型	Conference article (CA)
来源库	IEEE
文献类型	会议论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/345911
专题	信息科学与技术学院_硕士生信息科学与技术学院_PI研究组_Sören Schwertfeger组
通讯作者	Sören Schwertfeger
推荐引用方式 GB/T 7714	Delin Feng,Chengqian Li,Yongqi, Zhang,et al. osmAG: Hierarchical Semantic Topometric Area Graph Maps in the OSM Format for Mobile Robotics[C]:Institute of Electrical and Electronics Engineers Inc.,2023.