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
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