{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/autonomous-exploration-and-semantic-updating","title":"Autonomous Exploration and Semantic Updating of Large-Scale Indoor Environments with Mobile Robots","arxiv_id":"2409.15493","date":"2024-09-23","proceeding":null,"authors":["Sai Haneesh Allu","Itay Kadosh","Tyler Summers","Yu Xiang"],"abstract":"We introduce a new robotic system that enables a mobile robot to autonomously explore an unknown environment, build a semantic map of the environment, and subsequently update the semantic map to reflect environment changes, such as location changes of objects. Our system leverages a LiDAR scanner for 2D occupancy grid mapping and an RGB-D camera for object perception. We introduce a semantic map representation that combines a 2D occupancy grid map for geometry with a topological map for object semantics. This map representation enables us to effectively update the semantics by deleting or adding nodes to the topological map. Our system has been tested on a Fetch robot, semantically mapping a 93m x 90m and a 9m x 13m indoor environment and updating their semantic maps once objects are moved in the environments","url_abs":"https://arxiv.org/abs/2409.15493v2","url_pdf":"https://arxiv.org/pdf/2409.15493v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"autonomous-exploration-and-semantic-updating","repo_url":"https://github.com/IRVLUTD/semantic-mapping","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}