| Autor: |
Francesco Savelli, Patrick Beeson, Matt MacMahon, Joseph Modayil, Benjamin Kuipers |
| Rok vydání: |
2004 |
| Předmět: |
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| Zdroj: |
ICRA |
| DOI: |
10.1109/robot.2004.1302485 |
| Popis: |
Topological and metrical methods for representing spatial knowledge have complementary strengths. We present a hybrid extension to the spatial semantic hierarchy that combines their strengths and avoids their weaknesses. Metrical SLAM methods are used to build local maps of small-scale space within the sensory horizon of the agent, while topological methods are used to represent the structure of large-scale space. We describe how a local perceptual map is analyzed to identify a local topology description and is abstracted to a topological place. The map building method creates a set of topological map hypotheses that are consistent with travel experience. The set of maps is guaranteed under reasonable assumptions to include the correct map. We demonstrate the method on a real environment with multiple nested large-scale loops. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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