基于墙角族语义尺寸链的绑架定位研究

蒋林; 李云飞; 雷斌; 汤勃; 刘奇; 郭宇飞

doi:10.12263/DZXB.20230358

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基于墙角族语义尺寸链的绑架定位研究

学术论文 | 更新时间：2025-12-24

- 基于墙角族语义尺寸链的绑架定位研究
- Research on Kidnapping Detection and Re-Localization Based on Semantic Dimensional Chain of Corner Family
- 电子学报 2024年52卷第7期页码：2356-2368
- 作者机构：
  
  1.武汉科技大学冶金装备及控制教育部重点实验室，湖北武汉 430081
  2.武汉科技大学机器人与智能系统研究院，湖北武汉 430081
  3.武汉科技大学机械传动与制造工程湖北省重点实验室，湖北武汉 430081
- 作者简介：
  
  [ "蒋林男，1976年12月出生，湖北荆门人.武汉科技大学教授，博士研究生导师.主要研究方向为室内移动机器人地图构建、定位、导航.E-mail: jianglin76@wust.edu.cn" ]
  [ "李云飞男，2000年11月出生，湖北孝感人.武汉科技大学博士研究生.主要研究方向为室内移动机器人语义地图构建及其定位和导航." ]
  [ "雷斌男，1979年12月出生，湖北襄阳人.武汉科技大学副教授，硕士研究生导师.主要研究方向为群体机器人系统和无线传感器网络.E-mail: leibin@wust.edu.cn" ]
  [ "汤勃男，1973年10月出生，湖北石首人.武汉科技大学教授，硕士研究生导师.主要研究方向为机器视觉、机器学习、机构运动学和动力学等." ]
  [ "刘奇男，1996年8月出生，湖北咸宁人.武汉科技大学硕士研究生.主要研究方向为室内移动机器人物体识别、语义地图构建.E-mail: liuqi_xl@163.com" ]
  [ "郭宇飞男，1985 年4月出生，山西忻州人.武汉科技大学博士，副教授，硕士研究生导师.主要研究方向为非线性鲁棒控制理论及其在机器人、自动化等领域的应用." ]
- 基金信息：
  
  国家重点研发计划项目(2019YFB1310000);国家自然科学基金(51874217);湖北省重点研发计划(2020BAB098)
- DOI：10.12263/DZXB.20230358
  中图分类号： TP242.6;
- 收稿：2023-04-21，
  
  修回：2023-12-21，
  
  纸质出版：2024-07-25
- 稿件说明：
移动端阅览
蒋林, 李云飞, 雷斌, 等. 基于墙角族语义尺寸链的绑架定位研究[J]. 电子学报, 2024, 52(07): 2356-2368.

JIANG Lin, LI Yun-fei, LEI Bin, et al. Research on Kidnapping Detection and Re-Localization Based on Semantic Dimensional Chain of Corner Family[J]. Acta Electronica Sinica, 2024, 52(07): 2356-2368.
蒋林, 李云飞, 雷斌, 等. 基于墙角族语义尺寸链的绑架定位研究[J]. 电子学报, 2024, 52(07): 2356-2368. DOI：10.12263/DZXB.20230358

JIANG Lin, LI Yun-fei, LEI Bin, et al. Research on Kidnapping Detection and Re-Localization Based on Semantic Dimensional Chain of Corner Family[J]. Acta Electronica Sinica, 2024, 52(07): 2356-2368. DOI：10.12263/DZXB.20230358

摘要

针对目前原始自适应蒙特卡洛定位（Adaptive Monte Carlo Localization，AMCL）在相似环境下绑架检测容易出错且重定位极易失败等问题，提出基于墙角族语义尺寸链的改进AMCL算法.融合机器人多传感器信息和Gmapping算法构建二维栅格地图，基于Yolov5获取室内环境的目标检测框和类别信息，结合GrabCut算法和贝叶斯方法构建增量式语义映射地图；通过墙角的凸、凹和墙角相对于机器人的方位角对墙角进行分类，充分发掘语义映射地图中各墙角之间、墙角与室内物体之间的类别和位置关系，构建墙角族语义尺寸链和相应检索表；在定位过程中，基于墙角族语义尺寸链进行全局预定位，提出绑架检测机制进行绑架检测，在检测到绑架事件发生后，基于改进AMCL算法实现定位自恢复.最后，通过真实环境下的绑架实验验证了本文方法的有效性，实验表明，所提方法的全局定位准确率、全局定位速率、绑架检测准确率和绑架后定位准确率在相似环境下分别提升了42%、214%、88%和72%；在非相似环境下分别提升了44%、152%、12%和92%；在长走廊环境下分别提升了36%、426%、26%和68%.

Abstract

In order to solve the problems of kidnapping detection and re-localization failure of original AMCL(Adaptive Monte Carlo Localization) in similar environment

an improved AMCL algorithm based on semantic dimension chain of corner family is proposed. Firstly

the multi-sensor information of robot is fused and a two-dimensional grid map is constructed based on Gmapping algorithm. Secondly

the target detection frame and category information of indoor environment are obtained based on Yolov5

and the semantic mapping map is constructed incrementally by combining GrabCut algorithm and Bayesian method. The corners are classified based on their convexity

concavity

and the azimuth of the corners relative to the robot

and the category and position relationships between the corners and the indoor objects in the semantic mapping map are fully excavated. The semantic dimension chain of the corner family and the corresponding retrieval table are constructed. In the process of localization

global pre-localization is realized based on the semantic dimension chain of corner family

and kidnapping detection is carried out based on the proposed kidnapping detection mechanism

and localization self-recovery is realized based on the improved AMCL algorithm after the kidnapping event is detected. Finally

the effectiveness of this method is verified by kidnapping experiments in real environment. Experiments show that the proposed method improves the global localization accuracy

global localization rate

kidnapping detection accuracy and localization self-recovery success rate by 42%

214%

88% and 72%

respectively

in the similar environment; and 44%

152%

12% and 92%

respectively

in the non-similar environment; and 36%

426%

26% and 68%

respectively

in the long corridor environment.

关键词

Keywords

references

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