SEMANTIC GRID MAP BUILDING METHOD WHICH ASSIGNS SEMANTIC INDEXES SEPARATELY FOR OCCUPIED AND UNOCCUPIED SPACES AND A SEMANTIC GRID MAP-BASED EXPLORATION METHOD USING A SEMANTIC GRID MAP

摘要

PURPOSE: A semantic grid map building method and a semantic grid map-based exploration method using a semantic grid map are provided to obtain a stable moving route for autonomous traveling of a mobile robot by separating features of a door and falling zones and the peripheral areas thereof in order to accurately divide a grid map.;CONSTITUTION: A semantic grid map building method comprises the steps of: acquiring environmental information of an area by a sensing unit including a laser scanner installed in a mobile robot, extracting features based on the environmental information, and creating a semantic grid map using the features.;COPYRIGHT KIPO 2012