A Comparative Study for Topological Map Construction Methods from Metric Map

KALECİ B., PARLAKTUNA O., GÜREL U.

26th IEEE Signal Processing and Communications Applications Conference (SIU), İzmir, Türkiye, 2 - 05 Mayıs 2018 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası:
  • Doi Numarası: 10.1109/siu.2018.8404845
  • Basıldığı Şehir: İzmir
  • Basıldığı Ülke: Türkiye
  • Eskişehir Osmangazi Üniversitesi Adresli: Evet

Özet

Generally robots need to use maps while navigating from one place to another. Metric (grid-based) and topological (node-based) paradigms are utilized to produce maps. In this work, topological map of a large-scale indoor environment is constructed from its metric map. To do this, we follow three stages: 1) Construction of metric map; 2) Determination of nodes; 3) Connecting the nodes to produce the topological map. Apart from the studies in literature, only the new cells in the metric map are considered to determine the nodes. As a result, the topological map grows in an online manner and computational cost of spectral clustering and extended Voronoi graph is reduced. The methods are tested in a simulated model of ESOGU Electrical Engineering Laboratory building in Gazebo simulation environment by using ROS.