1. |
- Buschka, Pär, et al.
(författare)
-
Room detection for topology-based map building
- 2002
-
Ingår i: Proceedings of the 2nd Swedish workshop on autonomous robots. ; , s. 39-44
-
Konferensbidrag (populärvet., debatt m.m.)abstract
- Indoor environments typically consist of sets of connected room-like spaces. We present a local technique that uses range data to detect these spaces during navigation. This is done by a segmentation which isolates room-like spaces and detects when the robot has entered a new one. These spaces can be seen as nodes in a topological map and we show how to incrementally build such a map. We also report experimental results that show the performance of our technique
|
|