Real-time building of a thinning-based topological map

Tae B. Kwon, Jae-Bok Song

Research output: Contribution to journalArticle

9 Citations (Scopus)

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.

Original languageEnglish
Pages (from-to)211-220
Number of pages10
JournalIntelligent Service Robotics
Volume1
Issue number3
DOIs
Publication statusPublished - 2008 Jul 1

Fingerprint

Merging
Mobile robots
Experiments

Keywords

  • Thinning algorithm
  • Topological map building

ASJC Scopus subject areas

  • Artificial Intelligence
  • Engineering (miscellaneous)
  • Computational Mechanics
  • Mechanical Engineering

Cite this

Real-time building of a thinning-based topological map. / Kwon, Tae B.; Song, Jae-Bok.

In: Intelligent Service Robotics, Vol. 1, No. 3, 01.07.2008, p. 211-220.

Research output: Contribution to journalArticle

@article{72067a9a76b541a7885d2cb95d9fbdae,
title = "Real-time building of a thinning-based topological map",
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.",
keywords = "Thinning algorithm, Topological map building",
author = "Kwon, {Tae B.} and Jae-Bok Song",
year = "2008",
month = "7",
day = "1",
doi = "10.1007/s11370-008-0015-6",
language = "English",
volume = "1",
pages = "211--220",
journal = "Intelligent Service Robotics",
issn = "1861-2776",
publisher = "Springer Verlag",
number = "3",

}

TY - JOUR

T1 - Real-time building of a thinning-based topological map

AU - Kwon, Tae B.

AU - Song, Jae-Bok

PY - 2008/7/1

Y1 - 2008/7/1

N2 - 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.

AB - 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.

KW - Thinning algorithm

KW - Topological map building

UR - http://www.scopus.com/inward/record.url?scp=46449092068&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=46449092068&partnerID=8YFLogxK

U2 - 10.1007/s11370-008-0015-6

DO - 10.1007/s11370-008-0015-6

M3 - Article

VL - 1

SP - 211

EP - 220

JO - Intelligent Service Robotics

JF - Intelligent Service Robotics

SN - 1861-2776

IS - 3

ER -