Map refinement for mobile robot navigation by polygonal approximation and distance transformation.
Deaho LeeSungsoo LimYounjung LeeJaeyoung YoonPublished in: ICSPCS (2016)
Keyphrases
- mobile robot navigation
- polygonal approximation
- distance transformation
- topological map
- mobile robot
- digital curves
- binary images
- distance transform
- unknown environments
- mathematical morphology
- morphological operations
- shortest path
- robot navigation
- indoor environments
- medial axis
- structuring elements
- image interpretation
- obstacle avoidance
- least squares
- autonomous navigation
- gray scale
- computer vision