Augmenting topology-based maps with geometric information

• Topology-based maps are a new representation of the workspace of a mobile robot based on the topological notions of connectivity and adjacency. In this paper, we show how to enrich a topology-based map with geometric information useful for planning and navigation. Both the topology-based map and this geometric information are automatically extracted from sensor data.

Ämnesord

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Sciences (hsv//eng)

Nyckelord

Datalogi

Computer and Systems Science

Publikations- och innehållstyp

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