Room detection for topology-based map building

• 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

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

pop (ämneskategori)

kon (ämneskategori)