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Augmenting Topology-Based Maps with Geometric Information

E. Fabrizi and A. Saffiotti

Abstract
Topology-based maps are a new representation of the workspace of a mobile robot based on the topological notions of connectivity and adjacency. In this paper, we show how to enrich a topology-based map with geometric information useful for planning and navigation. Both the topology-based map and this geometric information are automatically extracted from sensor data.
Citation
E. Fabrizi and A. Saffiotti. Augmenting Topology-Based Maps with Geometric Information. Proc. of the 6th Intl. Conf. on Intelligent Autonomous Systems (IAS), pp. 604-661. Venice, Italy, 2000.
BibTeX entry
Contact
Email Elisabetta Fabrizi
Email Alessandro Saffiotti
Availability (©)
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