ROOM CATEGORIZATION USING SIMULTANEOUS LOCALIZATION AND MAPPING AND CONVOLUTIONAL NEURAL NETWORK
thesisposted on 2020-06-23, 18:49 authored by Iman YazdansepasIman Yazdansepas
Robotic industries are growing faster than in any other era with the demand and rise of in home robots or assisted robots. Such a robot should be able to navigate between different rooms in the house autonomously. For autonomous navigation, the robot needs to build a map of the surrounding unknown environment and localize itself within the map. For home robots, distinguishing between different rooms improves the functionality of the robot. In this research, Simultaneously Localization And Mapping (SLAM) utilizing a LiDAR sensor is used to construct the environment map. LiDAR is more accurate and not sensitive to light intensity compared to vision. The SLAM method used is Gmapping to create a map of the environment. Gmapping is one of the robust and user-friendly packages in the Robotic Operating System (ROS), which creates a more accurate map, and requires less computational power. The constructed map is then used for room categorization using Convolutional Neural Network (CNN). Since CNN is one of the powerful techniques to classify the rooms based on the generated 2D map images. To demonstrate the applicability of the approach, simulations and experiments are designed and performed on campus and an apartment environment. The results indicate the Gmapping provides an accurate map. Each room used in the experimental design, undergoes training by using the Convolutional Neural Network with a data set of different apartment maps, to classify the room that was mapped using Gmapping. The room categorization results are compared with other approaches in the literature using the same data set to indicate the performance. The classification results show the applicability of using CNN for room categorization for applications such as assisted robots.