Local metrical and global topological maps in the hybrid spatial semantic hierarchy
Local metrical and global topological maps in the hybrid spatial semantic hierarchy
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DOI：
10.1109/robot.2004.1302485
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发表时间：
2004-06
期刊：
影响因子：
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通讯作者：
B. Kuipers;Joseph Modayil;P. Beeson;M. MacMahon;F. Savelli
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文献类型：
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作者：
B. Kuipers;Joseph Modayil;P. Beeson;M. MacMahon;F. Savelli
表示空间知识的拓扑方法和度量方法具有互补的优势。我们提出了一种空间语义层次的混合扩展，结合了它们的优点，避免了它们的缺点。测量SLAM方法用于在智能体的感官视界内构建小尺度空间的局部地图，而拓扑方法用于表示大尺度空间的结构。我们描述了如何分析局部感知图以识别局部拓扑描述，并将其抽象为拓扑位置。地图构建方法创建了一组与旅行经验相一致的拓扑地图假设。在合理的假设下，保证映射集包含正确的映射。我们在一个具有多个嵌套的大规模循环的真实环境中演示了该方法。
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.