Local metrical and global topological maps in the hybrid spatial semantic hierarchy
Kuipers, B.; Modayil, J.; Beeson, P.; MacMahon, M.; Savelli, F.
Robotics and Automation, 2004. Proceedings. ICRA apos;04. 2004 IEEE International Conference on
Volume 5, Issue , 26 April-1 May 2004 Page(s): 4845 - 4851 Vol.5
Digital Object Identifier 10.1109/ROBOT.2004.1302485
Summary: 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.
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