Shasha Tian1,2, Zhengyang Chen1,3, Kai Ren1,2, Na Li1,2, Chongwei Ruan4, Zhijia Cui1,3, Mian Wu4,*
CMC-Computers, Materials & Continua, Vol.88, No.3, 2026, DOI:10.32604/cmc.2026.081556
- 23 July 2026
Abstract To address the issues of low exploration efficiency and “geometric myopia” caused by the lack of high-level environmental structure modeling for mobile robots in complex indoor environments, this paper proposes an active SLAM object navigation method based on Situational Semantic Augmented Graph (SSAG). Unlike methods that learn policies solely on pixel-level semantic maps or exploit only object-level relations for implicit association, this work elevates local observations online into a room-level topological graph and performs explicit semantic reasoning over unobserved regions. First, an online room segmentation algorithm is employed to transform unstructured sensory data into a… More >