A comparative study for topological map construction methods from metric map

B Kaleci, O Parlaktuna, U Gürel - 2018 26th Signal Processing …, 2018 - ieeexplore.ieee.org
B Kaleci, O Parlaktuna, U Gürel
2018 26th Signal Processing and Communications Applications …, 2018ieeexplore.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 …
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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