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In this paper, we propose to construct a novel framework for topological semantic map. Specifically, we construct a 2D semantic map by projecting 3D scene semantic information recognized by convolutional neural network onto a 2D plane. 3D reconstruction of the environment is achieved by RGB-D SLAM 3D space mapping algorithm. The intersections in the 2D map are recognized offline, and the semantic annotation of the intersection in the topological map is utilized to build up a complete object-based semantic map. Experimental results demonstrate the feasibility of the proposed approach.<\/jats:p>","DOI":"10.3233\/jifs-169656","type":"journal-article","created":{"date-parts":[[2018,6,15]],"date-time":"2018-06-15T13:19:42Z","timestamp":1529068782000},"page":"3011-3020","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":5,"title":["Efficient construction of topological semantic map with 3D information"],"prefix":"10.1177","volume":"35","author":[{"given":"Peng","family":"Wang","sequence":"first","affiliation":[{"name":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"},{"name":"Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen, China"},{"name":"The Chinese University of Hong Kong, Hong Kong, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jun","family":"Cheng","sequence":"additional","affiliation":[{"name":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"},{"name":"Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen, China"},{"name":"The Chinese University of Hong Kong, Hong Kong, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wei","family":"Feng","sequence":"additional","affiliation":[{"name":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"},{"name":"Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen, China"},{"name":"The Chinese University of Hong Kong, Hong Kong, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2018,6,14]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2463671"},{"key":"e_1_3_2_3_2","doi-asserted-by":"crossref","unstructured":"EngelJ. 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