A Split & Merge Approach to Metric-Topological Map-Building
- We present a novel split and merge based method for dividing a given metric map into distinct regions, thus effectively creating a topological map on top of a metric one. The initial metric map is obtained from range data that are converted to a geometric map consisting of linear approximations of the indoor environment. The splitting is done using an objective function that computes the quality of a region, based on criteria such as the average region width (to distinguish big rooms from corridors) and overall direction (which accounts for sharp bends). A regularization term is used in order to avoid the formation of very small regions, which may originate from missing or unreliable sensor data. Experiments based on data acquired by a mobile robot equipped with sonar sensors are presented, which demonstrate the capabilities of the proposed method.
Verfasserangaben: | Jochen SchmidtORCiD, C.K. Wong, W.K. Yeap |
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Titel des übergeordneten Werkes (Englisch): | International Conference on Pattern Recognition (ICPR), volume 3, pages 1069-1072, Hong Kong |
Dokumentart: | Konferenzveröffentlichung |
Sprache: | Englisch |
Erscheinungsjahr: | 2006 |
Freies Schlagwort / Tag: | Metric-Topological Map-Building; Pattern Recognition |
Fakultäten / Organisationseinheiten: | Fakultät für Informatik |
DDC-Klassifikation: | 0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 000 Informatik, Informationswissenschaft, allgemeine Werke |