osmAG: モバイルロボティクス向けOSM形式の階層型セマンティックトポメトリックエリアグラフマップ
osmAG: Hierarchical Semantic Topometric Area Graph Maps in the OSM Format for Mobile Robotics
屋内・屋外の多階層環境を階層的かつトポメトリックに表現するOSM XMLベースの地図フォーマットosmAGを提案し、ROS統合と大規模地図での経路計画評価を示した。
著者: Delin Feng, Chengqian Li, Yongqi Zhang, Chen Yu, Soeren Schwertfeger
分類: cs.RO
原文アブストラクト
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.
