BIM Based Indoor Navigation System of Hermes Mobile Robot

In this paper the problem of BIM based indoor navigation is considered. The purpose of the project is to develop the semantic navigation system of an autonomous robot using BIM (Building Information Modeling). The described representation enables semantic robot navigation with a goal specified at a various levels of abstraction. The concept of hierarchical action planning is presented, where the plan is a time-optimized path combined with a sequence of actions required for robot movement across the whole building. The navigation process is supported by semantic localization which utilizes two methods: object detection based on point clouds (the 3D camera data acquired and converted into a point cloud) and visual object detection (based on the image taken from two color cameras placed on the sides of the robot).