Towards Extraction of Topological Maps from 2D and 3D Occupancy Grids

• Type: Article in International Conference Proceedings Book
• Date: 2013

Authors

Filipe Neves Santos (Author) FEUP; António Paulo Moreira (Author) FEUP; Paulo Gomes da Costa (Author) FEUP

Conference proceedings International

Title: PROGRESS IN ARTIFICIAL INTELLIGENCE, EPIA 2013

Pages: 307-318

16th Portuguese Conference on Artificial Intelligence (EPIA)

Angra do Heroismo, PORTUGAL, SEP 09-12, 2013

Indexing

ISI Web of Knowledge - 10 Citations

Scopus - 9 Citations

Other information

Authenticus ID: P-008-EFQ

DOI: 10.1007/978-3-642-40669-0_27

Abstract (EN): Cooperation with humans is a requirement for the next generation of robots so it is necessary to model how robots can sense, know, share and acquire knowledge from human interaction. Instead of traditional SLAM (Simultaneous Localization and Mapping) methods, which do not interpret sensor information other than at the geometric level, these capabilities require an environment map representation similar to the human representation. Topological maps are one option to translate these geometric maps into a more abstract representation of the the world and to make the robot knowledge closer to the human perception. In this paper is presented a novel approach to translate 3D grid map into a topological map. This approach was optimized to obtain similar results to those obtained when the task is performed by a human. Also, a novel feature of this approach is the augmentation of topological map with features such as walls and doors.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12