Abstract
Previously developed our 3D sematic perception and mapping technique can provide semantic information of the urban structures. In this paper we propose 2D MOG map to integrate semantic information of the urban structures and its change detection method for the sake of security patrol robot surveillance. Occupancy of 3D objects can be simply represented in 2D grids according to classes. Since 2D MOG Map follows probability properties, we showed that 2D MOG Map can be adopted for updating map and change detection.
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Choe, Y., Chung, M.J. (2013). 2D Multi-class Occupancy Grid Map for a Mobile Security Robot in Urban Environments. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40852-6_59
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DOI: https://doi.org/10.1007/978-3-642-40852-6_59
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-40851-9
Online ISBN: 978-3-642-40852-6
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