Year: 2019
Type: conference-paper
Abstract: Representing a scanned map of the real environment as a topological structure is an important research topic in robotics. Since topological representations of maps save a huge amount of map storage space and online computing time, they are widely used in fields such as path planning, map matching, and semantic mapping. We use a topological map representation, the Area Graph, in which the vertices represent areas and edges represent passages. The Area Graph is developed from a pruned Voronoi Graph, the Topology Graph. We also employ a simple room detection algorithm to compensate the fact that the Voronoi Graph gets unstable in open areas. We claim that our area segmentation method is superior to state-of-the-art approaches in complex indoor environments and support this claim with a number of experiments.
Authors: Jiawei Hou, Yijun Yuan, Sören Schwertfeger
Institution: University of Chinese Academy of Sciences
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W2977644551