osmAG: Hierarchical Semantic Topometric Area Graph Maps in the OSM Format for Mobile Robotics

TL;DR

This paper introduces osmAG, a hierarchical, semantic, topometric map format based on OpenStreetMap XML, designed for mobile robotics to improve localization and planning in complex environments.

Contribution

The paper presents osmAG, a novel hierarchical map format leveraging OSM tools, with semantic annotations and obstacle data, optimized for mobile robot planning.

Findings

Effective in large-scale global path planning

Supports semantic and obstacle information

Integrates with ROS for practical use

Abstract

Maps are essential to mobile robotics tasks like localization and planning. We propose the open street map (osm) XML based Area Graph file format to store hierarchical, topometric semantic multi-floor maps of indoor and outdoor environments, since currently no such format is popular within the robotics community. Building on-top of osm we leverage the available open source editing tools and libraries of osm, while adding the needed mobile robotics aspect with building-level obstacle representation yet very compact, topometric data that facilitates planning algorithms. Through the use of common osm keys as well as custom ones we leverage the power of semantic annotation to enable various applications. For example, we support planning based on robot capabilities, to take the locomotion mode and attributes in conjunction with the environment information into account. The provided C++ library is integrated into ROS. We evaluate the performance of osmAG using real data in a global path planning application on a very big osmAG map, demonstrating its convenience and effectiveness for mobile robots.