A comparative study for topological map construction methods from metric map
2018 26th Signal Processing and Communications Applications …, 2018•ieeexplore.ieee.org
Generally robots need to use maps while navigating from one place to another. Metric (grid-
based) and topological (node-based) paradigms are utilized to produce maps. In this work,
topological map of a large-scale indoor environment is constructed from its metric map. To
do this, we follow three stages: 1) Construction of metric map; 2) Determination of nodes; 3)
Connecting the nodes to produce the topological map. Apart from the studies in literature,
only the new cells in the metric map are considered to determine the nodes. As a result, the …
based) and topological (node-based) paradigms are utilized to produce maps. In this work,
topological map of a large-scale indoor environment is constructed from its metric map. To
do this, we follow three stages: 1) Construction of metric map; 2) Determination of nodes; 3)
Connecting the nodes to produce the topological map. Apart from the studies in literature,
only the new cells in the metric map are considered to determine the nodes. As a result, the …
Generally robots need to use maps while navigating from one place to another. Metric (grid-based) and topological (node-based) paradigms are utilized to produce maps. In this work, topological map of a large-scale indoor environment is constructed from its metric map. To do this, we follow three stages: 1) Construction of metric map; 2) Determination of nodes; 3) Connecting the nodes to produce the topological map. Apart from the studies in literature, only the new cells in the metric map are considered to determine the nodes. As a result, the topological map grows in an online manner and computational cost of spectral clustering and extended Voronoi graph is reduced. The methods are tested in a simulated model of ESOGU Electrical Engineering Laboratory building in Gazebo simulation environment by using ROS.
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