Publish In |
International Journal of Mechanical and Production Engineering (IJMPE)-IJMPE |
Journal Home Volume Issue |
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Issue |
Volume-11,Issue-10 ( Oct, 2023 ) | |||||||||
Paper Title |
Object Localization using ORB SLAM 2 and Semantic Segmentation | |||||||||
Author Name |
Adith K, Amal Prakash, Arjun R Nair | |||||||||
Affilition |
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Pages |
1-5 | |||||||||
Abstract |
In this paper, we propose a system for localizing a target object using the integration of ORB SLAM2 and semantic segmentation algorithms. Our system runs on Robot Operating System (ROS) message bus and utilizes an RGB-D version of ORB slam2 to accurately estimate camera poses. Object classification is precisely predicted for each pixel in the frame using a PSPNet model trained on ADE20K dataset and fine-tuned on SUNRGBD dataset. The resulting semantic map assigns pre- defined semantic colors to objects in the environment. We then developed an Octomap localization algorithm that uses these pre- defined colors to locate the target object in the environment. Keywords - OctoMap, RGBD, Object classification | |||||||||
View Paper |