DocumentCode :
3034485
Title :
Local metrical and global topological maps in the hybrid spatial semantic hierarchy
Author :
Kuipers, Benjamin ; Modayil, Joseph ; Beeson, Patrick ; MacMahon, Matt ; Savelli, Francesco
Author_Institution :
Dept. of Comput. Sci., Texas Univ., Austin, TX, USA
Volume :
5
fYear :
2004
fDate :
26 April-1 May 2004
Firstpage :
4845
Abstract :
Topological and metrical methods for representing spatial knowledge have complementary strengths. We present a hybrid extension to the spatial semantic hierarchy that combines their strengths and avoids their weaknesses. Metrical SLAM methods are used to build local maps of small-scale space within the sensory horizon of the agent, while topological methods are used to represent the structure of large-scale space. We describe how a local perceptual map is analyzed to identify a local topology description and is abstracted to a topological place. The map building method creates a set of topological map hypotheses that are consistent with travel experience. The set of maps is guaranteed under reasonable assumptions to include the correct map. We demonstrate the method on a real environment with multiple nested large-scale loops.
Keywords :
path planning; robots; semantic networks; topology; global topological maps; hybrid spatial semantic hierarchy; large-scale space; local metrical maps; local perceptual map; simultaneous localization and mapping; spatial knowledge representation; structural ambiguity; Buildings; Extraterrestrial measurements; Intelligent robots; Large-scale systems; Mobile robots; Robot kinematics; Simultaneous localization and mapping; Space exploration; Spatial resolution; Topology;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN :
1050-4729
Print_ISBN :
0-7803-8232-3
Type :
conf
DOI :
10.1109/ROBOT.2004.1302485
Filename :
1302485
Link To Document :
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