Local Metrical and Global Topological Maps in the Hybrid Spatial Semantic Hierarchy

Local Metrical and Global Topological Maps in the Hybrid Spatial Semantic Hierarchy (2004)

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by Benjamin Kuipers , Joseph Modayil , Patrick Beeson , Matt Macmahon , Francesco Savelli

Venue:	in IEEE Int. Conf. on Robotics & Automation (ICRA-04
Citations:	44 - 16 self

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Datum	Value	Source
TITLE	Local Metrical and Global Topological Maps in the Hybrid Spatial Semantic Hierarchy	user correction - Legacy Corrections
AUTHOR NAME	Benjamin Kuipers	user correction - Legacy Corrections
AUTHOR AFFIL	Intelligent Robotics Lab; † ALCOR Group; Department of Computer Sciences Dipartimento di Informatica e Sistemistica; University of Texas at Austin Università di Roma “La Sapienza”	user correction - Legacy Corrections
AUTHOR NAME	Joseph Modayil	user correction - Legacy Corrections
AUTHOR AFFIL	Intelligent Robotics Lab; † ALCOR Group; Department of Computer Sciences Dipartimento di Informatica e Sistemistica; University of Texas at Austin Università di Roma “La Sapienza”	user correction - Legacy Corrections
AUTHOR NAME	Patrick Beeson	user correction - Legacy Corrections
AUTHOR AFFIL	Intelligent Robotics Lab; † ALCOR Group; Department of Computer Sciences Dipartimento di Informatica e Sistemistica; University of Texas at Austin Università di Roma “La Sapienza”	user correction - Legacy Corrections
AUTHOR NAME	Matt Macmahon	user correction - Legacy Corrections
AUTHOR AFFIL	Intelligent Robotics Lab; † ALCOR Group; Department of Computer Sciences Dipartimento di Informatica e Sistemistica; University of Texas at Austin Università di Roma “La Sapienza”	user correction - Legacy Corrections
AUTHOR NAME	Francesco Savelli	user correction - Legacy Corrections
AUTHOR AFFIL	Intelligent Robotics Lab; † ALCOR Group; Department of Computer Sciences Dipartimento di Informatica e Sistemistica; University of Texas at Austin Università di Roma “La Sapienza”	user correction - Legacy Corrections
ABSTRACT	Topological and metrical methods for representing spatial knowledge have complementary strengths. We present a hybrid extension to the Spatial Semantic Hierarchy that combines their strengths and avoids their weaknesses. Metrical SLAM methods are used to build local maps of small-scale space within the sensory horizon of the agent, while topological methods are used to represent the structure of large-scale space. We describe how a local perceptual map is analyzed to identify a local topology description and is abstracted to a topological place. The mapbuilding method creates a set of topological map hypotheses that are consistent with travel experience. The set of maps is guaranteed under reasonable assumptions to include the correct map. We demonstrate the method on a real environment with multiple nested large-scale loops.	user correction - Legacy Corrections
YEAR	2004	INFERENCE
VENUE	in IEEE Int. Conf. on Robotics & Automation (ICRA-04	INFERENCE
VENUE TYPE	CONFERENCE	INFERENCE
PAGES	4845--4851	INFERENCE
CITATIONS	24 found	ParsCit 1.0