Topological mapping using spectral clustering and classification

@article{Brunskill2007TopologicalMU,
  title={Topological mapping using spectral clustering and classification},
  author={Emma Brunskill and Thomas Kollar and Nicholas Roy},
  journal={2007 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2007},
  pages={3491-3496}
}
In this work we present an online method for generating topological maps from raw sensor information. We first describe an algorithm to automatically decompose a map into submap segments using a graph partitioning technique known as spectral clustering. We then describe how to train a classifier to recognize graph submaps from laser signatures using the AdaBoost machine learning algorithm. We demonstrate that the we can perform topological mapping by incrementally segmenting the world as the… CONTINUE READING

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