A Split & Merge Approach to Metric-Topological Map-Building
| dc.contributor.author | Schmidt, J. | |
| dc.contributor.author | Wong, C. | |
| dc.contributor.author | Yeap, W. | |
| dc.date.accessioned | 2009-05-27T22:22:15Z | |
| dc.date.available | 2009-05-27T22:22:15Z | |
| dc.date.copyright | 2006 | |
| dc.date.created | 2006 | |
| dc.date.issued | 2006 | |
| dc.description.abstract | 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 convened 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. © 2006 IEEE. | |
| dc.identifier.doi | 10.1109/ICPR.2006.176 | |
| dc.identifier.uri | https://hdl.handle.net/10292/635 | |
| dc.publisher | IEEE | |
| dc.relation.uri | https://ieeexplore.ieee.org/document/1699710 | |
| dc.rights | ©2006 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |
| dc.rights.accessrights | OpenAccess | |
| dc.source | Proceedings - International Conference on Pattern Recognition, 3, 1069-1072 | |
| dc.title | A Split & Merge Approach to Metric-Topological Map-Building | |
| dc.type | Conference Contribution |