Extracting Topology-Based Maps from Gridmaps

@inproceedings{Fabrizi2000ExtractingTM,
  title={Extracting Topology-Based Maps from Gridmaps},
  author={Elisabetta Fabrizi and Alessandro Saffiotti},
  booktitle={ICRA},
  year={2000}
}
We propose topology-based maps as a new representation of the workspace of a mobile robot. These maps capture the structure of the free space in the environment in terms of the basic topological notions of con-nectivity and adjacency. Topology-based maps can be automatically extracted from an occupancy grid built from sensor data using techniques borrowed from the image processing eld. Since these techniques can be soundly deened on fuzzy values, our approach is well suited to deal with the… CONTINUE READING
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