Autonomous Exploration and Semantic Updating of Large-Scale Indoor Environments with Mobile Robots​​

Sai Haneesh Allu, Itay Kadosh, Tyler Summers, Yu Xiang

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Citation

Please cite this work if it helps in your research

@inproceedings{allu2024semanticmapping,
      title={Autonomous Exploration and Semantic Updating of Large-Scale Indoor Environments with Mobile Robots},
      author={Allu, Sai Haneesh and Kadosh, Itay and Summers, Tyler and Xiang, Yu},
      journal={arXiv preprint arXiv:2409.15493},
      year={2024}
    }

For any questions regarding this work, contact Sai Haneesh Allu. For any issues regarding this code, please raise an issue.

Index

1. Installation
2. Initialization
3. Mapping and Exploration
4. Environment Traversal planning
5. Semantic Map Construction and Update
6. Running on a real robot system
7. Real World Demo

Installation

The following subsections provides detailed installation guidelines related to workspace setup, dependencies and other requirements to test this work effectively. Additionally, a docker has been provided with instructions. Credits to Iminolee .

A. Install ROS and Gazebo

This code is tested on ros noetic version. Detailed installation instructions are found here.To install ROS Noetic, execute the following commands in your terminal:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt install -y curl

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update

sudo apt install -y ros-noetic-desktop-full

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

source ~/.bashrc

For compatibility with ROS Noetic, Gazebo 11 is recommended. Detailed installation instructions are found here.

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

sudo apt-get update

sudo apt-get install -y gazebo11

B. Create Conda Environment

We strongly recommend using a virtual environment for this work, preferably Anaconda or Miniconda. Create a new environment as follows:

conda create -n sem-map python==3.9
conda activate sem-map

C. Clone the repository

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