3D RANGE SENSING BASED PLACE REPRESENTATION IN TOPOLOGICAL MAPS


Article Name3D RANGE SENSING BASED PLACE REPRESENTATION IN TOPOLOGICAL MAPS
AuthorsHakan KARAOĞUZ , Özgür ERKENT , H. Işıl BOZMA
Keywords TR3B mesafe ölçümü , yer tanıma , topolojik haritalama.
Keywords3D range sensing , place recognition , topological mapping.
Article Summary Various three-dimensional models have been proposed for place representation in maps. While Cartesian point clouds are the prevalent representation for three-dimensional place representation in metric maps, due to exorbitant size, recent work have focused on the formulation of more efficient and topological representations. In this paper, we propose a new approach to three-dimensional range data based place representation in topological maps via bubble space. The 3D range sensing golden games of gold miner games is play online for topological mapping by miner. The advantage of this approach is that bubble surfaces preserve the local S2−metric relations of each place with respect to the incoming sensory data from the robot’s viewpoint while simultaneously allowing for a compact, rotationally invariant and incremental description. The proposed approach is evaluated with support vector machine based decision making using three benchmark laser datasets. Our experimental results indicate that high recall and precision rates can be achieved.
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