A Dual Graph Pyramid Approach to Grid-Based and Topological Maps Integration for Mobile Robotics

Authors:
J. M. Pérez-Lorenzo;R. Vázquez-Martín;E. Antúnez;A. Bandera
Affiliations:
Dpto. Ing. Telecomunicación, Universidad de Jaén, (Spain);Grupo ISIS, Dpto. Tecnología Electrónica, University of Málaga, (Spain);PRIP, Vienna University of Technology, (Austria);Grupo ISIS, Dpto. Tecnología Electrónica, University of Málaga, (Spain)
Venue:
IWANN '09 Proceedings of the 10th International Work-Conference on Artificial Neural Networks: Part I: Bio-Inspired Systems: Computational and Ambient Intelligence
Year:
2009

Citing 3
Cited 0

Learning metric-topological maps for indoor mobile robot navigation

Artificial Intelligence
Vision-Based SLAM: Stereo and Monocular Approaches

International Journal of Computer Vision
Bayesian inference in the space of topological maps

IEEE Transactions on Robotics

Quantified Score

Hi-index	0.00

Visualization

Abstract

A pyramid is a hierarchy of successively reduced graphs which represents the contents of a base graph at multiple levels of abstraction. The efficiency of the pyramid to represent the information is strongly influenced by the graph selected to encode the information within each pyramid level (data structure) and the scheme used to build one graph from the graph below (decimation process). In this paper, the dual graph data structure and the maximal independent edge set (MIES) decimation process are applied in the context of robot navigation. The aim is to integrate the grid-based and the topological paradigms for map building. In this proposal, dual graphs allow to correctly represent the embedding of the topological map into the metric one.