Straight Skeleton Based Automatic Generation of Hierarchical Topological Map in Indoor Environment.
Qian HouSongyi ZhangShitao ChenZhixiong NanNanning ZhengPublished in: ITSC (2021)
Keyphrases
- indoor environments
- topological map
- mobile robot
- topological features
- globally consistent
- path planning
- monocular vision
- robot localization
- autonomous mobile robots
- indoor localization
- robot navigation
- simultaneous localization and mapping
- fall detection
- geometrical information
- robotic systems
- binary images
- mobile robotics
- straight line
- object tracking