RBE Masters Thesis Presentation: Karter Krueger | Multi-Level Semantic SLAM

10:30 am to 12:00 pm on April 25, 2023
RBE Robot Lineup

RBE Masters Thesis Presentation

Karter Krueger

Multi-Level Semantic SLAM

Tuesday, April 25th

10:30 AM - 12:00 PM

Zoom Link: https://wpi.zoom.us/j/91471216151

Abstract: This thesis presents a novel Multi-Level Semantic Simultaneous Localization and Mapping (ML Semantic SLAM) method designed to improve the accuracy and reliability of robot mapping and localization in sparse and repetitive environments. By incorporating both low-level and high-level semantic features, our approach addresses the challenges associated with limited distinguishable keypoint ORB features and generates a more semantically rich map. We detail the development, implementation, and evaluation of our ML Semantic SLAM system in various simulated and real-world environments, demonstrating its superior performance compared to traditional SLAM techniques, such as ORB-SLAM2. The system achieves up to a 70% error reduction in highly sparse environments and exhibits modest improvements in more moderate environments, showcasing its robustness and versatility. We also propose several future directions to extend the research. By continually refining and expanding upon the Multi-Level Semantic SLAM method, we hope to enable more accurate and reliable SLAM systems for various real-world applications.


Professor Jing Xiao, Worcester Polytechnic Institute (WPI)


Professor  Carlo Pinciroli, Worcester Polytechnic Institute (WPI)

Professor  Nitin Sanket, Worcester Polytechnic Institute (WPI)



Robotics Engineering