Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning.
Xinyi ChenBoyu ZhouJiarong LinYichen ZhangFu ZhangShaojie ShenPublished in: CoRR (2022)
Keyphrases
- mobile robot
- topological map
- topological features
- topological information
- motion planning
- indoor environments
- connected components
- robot navigation
- mobile robot navigation
- obstacle avoidance
- binary images
- path planning
- sparse representation
- graph theory
- graph matching algorithm
- navigation tasks
- dynamic environments
- random walk
- structured data
- graph representation
- high dimensional
- office environment
- bipartite graph
- map building
- directed acyclic
- directed graph
- planning problems
- collision free
- general theory
- d objects
- global consistency
- gaussian graphical models
- simultaneous localization and mapping
- planning systems
- heuristic search
- sparse data
- graph theoretic
- undirected graph
- endpoints
- shape representation
- multi robot
- graph structure
- robotic systems
- spatial relations