Robust Structure Identification and Room Segmentation of Cluttered Indoor Environments From Occupancy Grid Maps.
Matteo LupertoTomasz Piotr KucnerAndrea TassiMartin MagnussonFrancesco AmigoniPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- indoor environments
- topological map
- mobile robot
- path planning
- level set
- medical images
- segmentation algorithm
- structural information
- image segmentation
- monocular vision
- robust segmentation
- multiscale
- segmentation method
- robot navigation
- viewpoint
- laser range finder
- image based localization
- indoor localization
- laser range data
- image data