Connecting Semantic Building Information Models and Robotics: An application to 2D LiDAR-based localization

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Abstract

This paper proposes a method to integrate the rich semantic data-set provided by Building Information Modeling (BIM) with robotics world models, taking as use case indoor semantic localization in a large university building. We convert a subset of semantic entities with associated geometry present in BIM models and represented in the Industry Foundation Classes (IFC) data format to a robot-specific world model representation. This representation is then stored in a spatial database from which the robot can query semantic objects in its immediate surroundings. The contribution of this work is that, from this query, the robot’s feature detectors are configured and used to make explicit data associations with semantic structural objects from the BIM model that are located near the robot’s current position. A graph-based approach is then used to localize the robot, incorporating the explicit map-feature associations for localization. We show that this explainable model-based approach allows a robot equipped with a 2D LiDAR and odometry to track its pose in a large indoor environment for which a BIM model is available.
Original languageEnglish
Title of host publication2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PublisherInstitute of Electrical and Electronics Engineers
Pages11654-11660
Number of pages7
ISBN (Electronic)978-1-7281-9077-8
DOIs
Publication statusPublished - 18 Oct 2021
EventInternational Conference on Robotics and Automation, ICRA 2021 - Xi'an, China
Duration: 30 May 20215 Jun 2021
https://www.ieee-icra.org/

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2021-May
ISSN (Print)1050-4729

Conference

ConferenceInternational Conference on Robotics and Automation, ICRA 2021
Country/TerritoryChina
CityXi'an
Period30/05/215/06/21
Internet address

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