oru.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Extracting topology-based maps from gridmaps
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
2000 (English)In: IEEE international conference on robotics and automation, ICRA '00: proceedings, 2000, p. 2972-2978Conference paper, Published paper (Refereed)
Abstract [en]

We propose topology-based maps as a new representation of the workspace of a mobile robot. These maps capture the structure of the free space in the environment in terms of the basic topological notions of connectivity and adjacency. Topology-based maps can be automatically extracted from an occupancy grid built from sensor data using techniques borrowed from the image processing field. Since these techniques can be soundly defined on fuzzy values, our approach is well suited to deal with the uncertainty inherent in the sensor data. Topology-based maps are fairly robust with respect to sensor noise and to small environmental changes, and have nice computational properties.

Place, publisher, year, edition, pages
2000. p. 2972-2978
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3942DOI: 10.1109/ROBOT.2000.846479ISBN: 0-7803-5886-4 (print)OAI: oai:DiVA.org:oru-3942DiVA, id: diva2:138241
Conference
IEEE international conference on robotics and automation, ICRA, San Francisco, CA, 2000
Available from: 2007-08-15 Created: 2007-08-15 Last updated: 2018-01-13Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full texthttp://www.aass.oru.se/Research/Robots/publications.html

Authority records BETA

Saffiotti, Alessandro

Search in DiVA

By author/editor
Saffiotti, Alessandro
By organisation
Department of Technology
Computer Sciences

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 360 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf