Ceiling vision-based topological mapping and exploration in wide-open area

In this paper, we propose a new ceiling vision-based active mapping and exploration framework for wide-open structural environments such as museum, exhibition center. We adopt the ceiling vision based approach with model-free landmark definition and visual servoing based data association. Additionally, by using a recursive explore and exploit strategy in topological map-building and navigation, we could gradually spread out the mapped region in unknown, wide-open environments without degrading map accuracy. Simulations and real experiment demonstrated that our mapping and exploration algorithm could work well in real environment.