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- W2016603148 abstract "This paper proposes a method for a cleaning robot to generate a topological map from an occupancy grid-map. Virtual door is defined as the candidates of real door, and the virtual doors are detected as edges of the topological map by extracting corner features from the occupancy grid-map; using this method, an initial topological map is generated, which consists of nodes and edges. The final topological map is generated using a genetic algorithm to merge the nodes and reduce the edges. As a result, the generated topological map consists of nodes divided by virtual doors and edges located in real doors. The proposed methods provide a topological map for the user interaction and the cleaning robot, and the topological map can be used to plan more efficient motion including room-to-room path planning and covering each room." @default.
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- W2016603148 date "2010-07-01" @default.
- W2016603148 modified "2023-10-16" @default.
- W2016603148 title "Generating topological map from occupancy grid-map using virtual door detection" @default.
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- W2016603148 doi "https://doi.org/10.1109/cec.2010.5586510" @default.
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