@COMMENT This file was generated by bib2html.pl <https://sourceforge.net/projects/bib2html/> version 0.94
@COMMENT written by Patrick Riley <http://sourceforge.net/users/patstg/>
@COMMENT This file came from Patrick Beeson's publication pages at
@COMMENT http://personal.traclabs.com/~pbeeson/publications
@InProceedings{Kuipers-icra-04,
  author =	 {Benjamin Kuipers and Joseph Modayil and Patrick
                  Beeson and Matt MacMahon and Francesco Savelli},
  title =	 {Local metrical and global topological maps in the
                  {Hybrid Spatial Semantic Hierarchy}},
  booktitle =	 {Proceedings of the IEEE International Conference on
                  Robotics and Automation (ICRA)},
  year =	 2004,
  address =	 {New Orleans, Louisiana},
  month =	 {April},
  pages =	 {4845--4851},
  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 map-building 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.},
  bib2html_pubtype ={Refereed Conference},
  bib2html_rescat ={Topological/Hybrid Map-Building},
  bib2html_extra_info ={<a
                  href="http://personal.traclabs.com/~pbeeson/talks/Kuipers-icra-04_talk.pdf">
                  Talk slides</a>},
}