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Autonomous Robots
Erschienen in: Autonomous Robots 4/2012

01.05.2012

Topological map induction using neighbourhood information of places

verfasst von: Felix Werner, Joaquin Sitte, Frederic Maire

Erschienen in: Autonomous Robots | Ausgabe 4/2012

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Abstract

In topological mapping, perceptual aliasing can cause different places to appear indistinguishable to the robot. In case of severely corrupted or non-available odometry information, topological mapping is difficult as the robot is challenged with the loop-closing problem; that is to determine whether it has visited a particular place before.
In this article we propose to use neighbourhood information to disambiguate otherwise indistinguishable places. Using neighbourhood information for place disambiguation is an approach that neither depends on a specific choice of sensors nor requires geometric information such as odometry. Local neighbourhood information is extracted from a sequence of observations of visited places.
In experiments using either sonar or visual observations from an indoor environment the benefits of using neighbourhood clues for the disambiguation of otherwise identical vertices are demonstrated. Over 90% of the maps we obtain are isomorphic with the ground truth. The choice of the robot’s sensors does not impact the results of the experiments much.
Vorheriger Artikel Decentralized path planning for multi-agent teams with complex constraints
Nächster Artikel Improving biped walk stability with complementary corrective demonstration

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Fußnoten
1
We use the notation a:b to denote the sequence of integers from a to b.
 
2
“Entia non sunt multiplicanda praeter necessitatem” or “Entities should not be multiplied unnecessarily”. William Occam (1285–1349).
 
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Metadaten
Titel
Topological map induction using neighbourhood information of places
verfasst von
Felix Werner
Joaquin Sitte
Frederic Maire
Publikationsdatum
01.05.2012
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 4/2012
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-012-9276-1

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