Local metrical and global topological maps in the Hybrid Spatial Semantic Hierarchy
Benjamin Kuipers, Joseph Modayil, Patrick Beeson, Matt MacMahon, and Francesco Savelli. Local metrical and global topological maps in the Hybrid Spatial Semantic Hierarchy. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 4845–4851, New Orleans, Louisiana, April 2004.
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.
Additional Information
BibTeX
@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>},
}