Topological map building based on thinning and its application to localization

Chang Hyuk Choi, Jae Bok Song, Woojin Chung, Munsang Kim

Research output: Contribution to conferencePaper

12 Citations (Scopus)

Abstract

Map building and localization are essential to an autonomous mobile robot system. A global topological map is commonly constructed from a global grid map using a Voronoi diagram. In this hierarchical method, however, the advantage of a topological map such as compactness may not be fully utilized. In this paper sensor data are used to build a local grid map from which a local topological map is created using a thinning method. The thinning method is an alternative of the Voronoi diagram. The local topological map is then updated to the global one. Localization based on the topological map is usually difficult, but additional nodes created by the thinning method can improve localization performance. Various experiments with a laser scanner demonstrate validity and feasibility of the proposed algorithms for map building and localization.

Original languageEnglish
Pages552-557
Number of pages6
Publication statusPublished - 2002
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: 2002 Sep 302002 Oct 4

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period02/9/3002/10/4

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Choi, C. H., Song, J. B., Chung, W., & Kim, M. (2002). Topological map building based on thinning and its application to localization. 552-557. Paper presented at 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.