Durham School of Architectural Engineering and Construction


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Peavy, M.; Kim, P.; Oyediran, H.; Kim, K. Integration of Real-Time Semantic Building Map Updating with Adaptive Monte Carlo Localization (AMCL) for Robust Indoor Mobile Robot Localization. Appl. Sci. 2023, 13, 909. https://doi.org/10.3390/app13020909


Open access.


A robot can accurately localize itself and navigate in an indoor environment based on information about the operating environment, often called a world or a map. While typical maps describe structural layouts of buildings, the accuracy of localization is significantly affected by nonstructural building elements and common items, such as doors, appliances, and furniture. This study enhances the robustness and accuracy of indoor robot localization by dynamically updating the semantic building map with non-structural elements detected by sensors. We propose modified Adaptive Monte Carlo Localization (AMCL), integrating object recognition and map updating into the traditional probabilistic localization. With the proposed approach, a robot can automatically correct errors caused by non-structural elements by updating a semantic building map reflecting the current state of the environment. Evaluations in kidnapped robot and traditional localization scenarios indicate that more accurate and robust pose estimation can be achieved with the map updating capability.