Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning.
Xinyi ChenBoyu ZhouJiarong LinYichen ZhangFu ZhangShaojie ShenPublished in: IROS (2022)
Keyphrases
- mobile robot
- topological map
- topological information
- motion planning
- topological features
- mobile robot navigation
- connected components
- robot navigation
- indoor environments
- graph theory
- obstacle avoidance
- autonomous robots
- graph representation
- path planning
- binary images
- planning problems
- bipartite graph
- structured data
- graph matching algorithm
- causal graph
- autonomous navigation
- graph model
- multi robot
- sparse data
- high dimensional
- graph mining
- global consistency
- graph matching
- shape analysis
- navigation tasks
- graph theoretic
- mobile robotics
- domain independent
- random walk
- dimensionality reduction
- story generation
- gaussian graphical models