Semantic SLAM system for mobile robots based on large visual model in complex environments

Semantic SLAM system for mobile robots based on large visual model in complex environments | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Semantic SLAM system for mobile robots based on large visual model in complex environments CHAO ZHENG, PENG ZHANG, YANAN LI This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4634722/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 11 Mar, 2025 Read the published version in Scientific Reports → Version 1 posted 12 You are reading this latest preprint version Abstract Intelligent optical detecting tracking technologies play important roles in many fields, one of which is to help unmanned devices such as UAVs, autonomous vehicle and intelligent robots to achieve accurate localization and mapping. For medical and nursing robots, the first step in participating in the treatment and nursing process is to accurately locate their location in the ward, and perceive the surrounding environment of the ward.However, when faced with more complex or constantly changing surrounding environments, especially when medical and nursing robots facing a large flow of medical personnel and patients in wards, the hospital environment is relatively complex, then traditional positioning and mapping methods based on geometric features such as points and lines cannot achieve accurate results for medical nursing robots. In this paper, combined with the characteristics of complex dynamic environments encountered in actual wards, we propose a method to obtain high-level semantic information in the surrounding environment and use it for medical and nursing robot’s localization and mapping. Experiments have shown that the semantic based SLAM technology proposed in this article can help medical and nursing robots achieve more accurate localization and mapping results compared to the current popular SLAM technologies, and the use of semantic information can also enable medical and nursing robots to recognize medical devices, laying the foundation for performing other higher level tasks. Physical sciences/Mathematics and computing/Computer science Physical sciences/Mathematics and computing/Information technology Intelligent optical detecting SLAM Intelligent robot Semantic information LiDAR Computer vision Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 11 Mar, 2025 Read the published version in Scientific Reports → Version 1 posted Editorial decision: Revision requested 29 Oct, 2024 Reviews received at journal 16 Oct, 2024 Reviewers agreed at journal 14 Oct, 2024 Reviews received at journal 04 Oct, 2024 Reviewers agreed at journal 14 Sep, 2024 Reviews received at journal 13 Sep, 2024 Reviewers agreed at journal 13 Sep, 2024 Reviewers invited by journal 13 Sep, 2024 Editor assigned by journal 13 Sep, 2024 Editor invited by journal 07 Jul, 2024 Submission checks completed at journal 04 Jul, 2024 First submitted to journal 25 Jun, 2024 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-4634722","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":330066992,"identity":"fc9d4cfc-1435-4a64-9b10-b4e3b3eda8dc","order_by":0,"name":"CHAO ZHENG","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA30lEQVRIiWNgGAWjYLCCB2wMDAYgxgcDGzvitCRAtTDOKEhLJk0LM8+HQ4wNhFTzzz578EFCGYO9OXvv4dc2BgeYGdgPH92AT4vEubxkg4RzDMyWPefSrHMM7vAx8KSl3cBrzRkeM4nENgY2gxs5ZsY5Bs+YGSR4zPBqkYdq4TG4/8bM2MLgMGMDIS0GUC0SBjd4jB8zEKPF8AyPMcgvBgZncswYewzSktkI+UXuDI/hgw/AEDM4fsb4w48/Nnb87IeP4fc+BPwHEWwSYJII5XDA/IEU1aNgFIyCUTByAAABmUT+c+5awgAAAABJRU5ErkJggg==","orcid":"","institution":"Henan Academy of Sciences","correspondingAuthor":true,"prefix":"","firstName":"CHAO","middleName":"","lastName":"ZHENG","suffix":""},{"id":330066994,"identity":"ed630cad-c9e3-4094-9af4-206bf738c0c4","order_by":1,"name":"PENG ZHANG","email":"","orcid":"","institution":"North China University of Water Resources and Electric Power","correspondingAuthor":false,"prefix":"","firstName":"PENG","middleName":"","lastName":"ZHANG","suffix":""},{"id":330066998,"identity":"b2ec353a-81f8-4df8-9271-5ffff2a1ab25","order_by":2,"name":"YANAN LI","email":"","orcid":"","institution":"Henan University of Science and Technology","correspondingAuthor":false,"prefix":"","firstName":"YANAN","middleName":"","lastName":"LI","suffix":""}],"badges":[],"createdAt":"2024-06-25 08:20:22","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-4634722/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-4634722/v1","draftVersion":[],"editorialEvents":[{"content":"https://doi.org/10.1038/s41598-025-90340-5","type":"published","date":"2025-03-11T15:58:04+00:00"}],"editorialNote":"","failedWorkflow":false,"files":[{"id":78689803,"identity":"1da5cce9-15d4-43c3-91ab-71222f984c20","added_by":"auto","created_at":"2025-03-17 16:13:23","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":687031,"visible":true,"origin":"","legend":"","description":"","filename":"SemanticSLAMsystemformobilerobotsbasedonlargevisualmodelincomplexenvironments.pdf","url":"https://assets-eu.researchsquare.com/files/rs-4634722/v1_covered_5f000f00-86f1-4334-ab74-54fce7e1e931.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Semantic SLAM system for mobile robots based on large visual model in complex environments","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"scientific-reports","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"scirep","sideBox":"Learn more about [Scientific Reports](http://www.nature.com/srep/)","snPcode":"","submissionUrl":"","title":"Scientific Reports","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Scientific Reports","inReviewEnabled":true,"inReviewRevisionsEnabled":true},"keywords":"Intelligent optical detecting, SLAM, Intelligent robot, Semantic information, LiDAR, Computer vision","lastPublishedDoi":"10.21203/rs.3.rs-4634722/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-4634722/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eIntelligent optical detecting tracking technologies play important roles in many fields, one of which is to help unmanned devices such as UAVs, autonomous vehicle and intelligent robots to achieve accurate localization and mapping. For medical and nursing robots, the first step in participating in the treatment and nursing process is to accurately locate their location in the ward, and perceive the surrounding environment of the ward.However, when faced with more complex or constantly changing surrounding environments, especially when medical and nursing robots facing a large flow of medical personnel and patients in wards, the hospital environment is relatively complex, then traditional positioning and mapping methods based on geometric features such as points and lines cannot achieve accurate results for medical nursing robots. In this paper, combined with the characteristics of complex dynamic environments encountered in actual wards, we propose a method to obtain high-level semantic information in the surrounding environment and use it for medical and nursing robot\u0026rsquo;s localization and mapping. Experiments have shown that the semantic based SLAM technology proposed in this article can help medical and nursing robots achieve more accurate localization and mapping results compared to the current popular SLAM technologies, and the use of semantic information can also enable medical and nursing robots to recognize medical devices, laying the foundation for performing other higher level tasks.\u003c/p\u003e","manuscriptTitle":"Semantic SLAM system for mobile robots based on large visual model in complex environments","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2024-07-29 11:52:21","doi":"10.21203/rs.3.rs-4634722/v1","editorialEvents":[{"type":"communityComments","content":0},{"type":"decision","content":"Revision requested","date":"2024-10-29T08:42:29+00:00","index":"","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2024-10-16T08:52:49+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"29184964870875799706200490699809048531","date":"2024-10-14T13:54:26+00:00","index":"hide","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2024-10-04T06:59:01+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"284046174860126372897299000200197542724","date":"2024-09-14T07:57:24+00:00","index":"hide","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2024-09-13T17:08:45+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"181827482196347016558342841463009961625","date":"2024-09-13T06:30:50+00:00","index":"hide","fulltext":""},{"type":"reviewersInvited","content":"","date":"2024-09-13T05:55:39+00:00","index":"","fulltext":""},{"type":"editorAssigned","content":"","date":"2024-09-13T05:54:24+00:00","index":"","fulltext":""},{"type":"editorInvited","content":"","date":"2024-07-07T08:48:58+00:00","index":"","fulltext":""},{"type":"checksComplete","content":"","date":"2024-07-04T10:38:41+00:00","index":"","fulltext":""},{"type":"submitted","content":"Scientific Reports","date":"2024-06-25T08:17:27+00:00","index":"","fulltext":""}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"scientific-reports","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"scirep","sideBox":"Learn more about [Scientific Reports](http://www.nature.com/srep/)","snPcode":"","submissionUrl":"","title":"Scientific Reports","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Scientific Reports","inReviewEnabled":true,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"de794f86-87df-4bbc-9a97-a281036c2f95","owner":[],"postedDate":"July 29th, 2024","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"published-in-journal","subjectAreas":[{"id":34936654,"name":"Physical sciences/Mathematics and computing/Computer science"},{"id":34936655,"name":"Physical sciences/Mathematics and computing/Information technology"}],"tags":[],"updatedAt":"2025-03-17T16:10:23+00:00","versionOfRecord":{"articleIdentity":"rs-4634722","link":"https://doi.org/10.1038/s41598-025-90340-5","journal":{"identity":"scientific-reports","isVorOnly":false,"title":"Scientific Reports"},"publishedOn":"2025-03-11 15:58:04","publishedOnDateReadable":"March 11th, 2025"},"versionCreatedAt":"2024-07-29 11:52:21","video":"","vorDoi":"10.1038/s41598-025-90340-5","vorDoiUrl":"https://doi.org/10.1038/s41598-025-90340-5","workflowStages":[]},"version":"v1","identity":"rs-4634722","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-4634722","identity":"rs-4634722","version":["v1"]},"buildId":"qtupq5eGEP_6zYnWcrvyt","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}