Making 2D Map of Environments Based upon Routes Scenes

  • Authors:

  • Shigang Li;Akira Ochi;Yasushi Yagi;Masahiko Yachida

  • Affiliations:

  • Faculty of Information Sciences, Hiroshima City University, Japan. li@im.hiroshima-cu.ac.jp;Faculty of Engineering Sciences, Osaka University, Japan;Faculty of Engineering Sciences, Osaka University, Japan;Faculty of Engineering Sciences, Osaka University, Japan

  • Venue:
  • Autonomous Robots
  • Year:
  • 2000

Quantified Score

Hi-index 0.00

Visualization

Abstract

This paper proposes a method for making a map of largescale environment based upon route scenes, assuming that thetopological relation of routes at intersections is known. A panoramicrepresentation is used for describing route scenes, and the number ofroutes connecting at an intersection is assumed to be known. The ideais to decompose a 2D graph into a number of closed loops. Bydetecting the closed loops and storing the relation among them, wecan describe the 2D map based upon route scenes. A robot can obtain aclosed loop by taking the same turn (leftmost for example) at everyintersection when it moves along routes. According to theinformation on routes at intersections, the robot can select unmovedroutes for finding new closed loops. By fusing new closed loops withfound ones, the robot can, further, build the map of environments.The effectiveness of our method are shown by experiment in areal-world environment.