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Real-time building of a thinning-based topological map

Authors
Kwon, Tae-BumSong, Jae-Bok
Issue Date
Jul-2008
Publisher
SPRINGER HEIDELBERG
Keywords
Topological map building; Thinning algorithm
Citation
INTELLIGENT SERVICE ROBOTICS, v.1, no.3, pp.211 - 220
Indexed
SCIE
SCOPUS
Journal Title
INTELLIGENT SERVICE ROBOTICS
Volume
1
Number
3
Start Page
211
End Page
220
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/123293
DOI
10.1007/s11370-008-0015-6
ISSN
1861-2776
Abstract
An accurate and compact map is essential to an autonomous mobile robot system. A topological map, one of the most popular map types, can be used to represent the environment in terms of discrete nodes with edges connecting them. It is usually constructed by Voronoi-like graphs, but in this paper the topological map is incrementally built based on the local grid map by using a thinning algorithm. This algorithm, when combined with the application of the C-obstacle, can easily extract only the meaningful topological information in real-time and is robust to environment change, because this map is extracted from a local grid map generated based on the Bayesian update formula. In this paper, position probability is defined to evaluate the quantitative reliability of the end node extracted by the thinning process. Since the thinning process builds only local topological maps, a global topological map should be constructed by merging local topological maps according to nodes with high position probability. For real and complex environments, experiments showed that the proposed map building method based on the thinning process can accurately build a local topological map in real-time, with which an accurate global topological map can be incrementally constructed.
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