|
1. |
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 '04. 2004 IEEE International Conference on
Volume 5,
26 April-1 May 2004
Page(s):4845
-
4851 Vol.5
Abstract:
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.
|
Cart
