DocumentCode :
2425050
Title :
RG mapping: learning compact and structured 2D line maps of indoor environments
Author :
Schröter, Derik ; Beetz, Michael ; Gutmann, Jens-Steffen
Author_Institution :
Munich Univ. of Technol., Tokyo, Japan
fYear :
2002
fDate :
2002
Firstpage :
282
Lastpage :
287
Abstract :
In this paper we present region and gateway (RG) mapping, a novel approach to laser-based 2D line mapping of indoor environments. RG mapping is capable of acquiring very compact, structured, and semantically annotated maps. We present and empirically analyze the method based on map acquisition experiments with autonomous mobile robots. The experiments show that RG mapping drastically compresses the data contained in line scan maps without substantial loss of accuracy.
Keywords :
learning (artificial intelligence); mobile robots; path planning; RG mapping; autonomous mobile robots; compact 2D line maps; indoor environments; laser-based 2D line mapping; line scan maps; region and gateway mapping; semantically annotated maps; structured 2D line maps; Buildings; Indoor environments; Merging; Navigation; Robot sensing systems; Roentgenium; Sensor phenomena and characterization; Sensor systems; Service robots; Software systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robot and Human Interactive Communication, 2002. Proceedings. 11th IEEE International Workshop on
Print_ISBN :
0-7803-7545-9
Type :
conf
DOI :
10.1109/ROMAN.2002.1045636
Filename :
1045636
Link To Document :
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