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A Method for Reducing Redundant Line Segments Francesco Amigoni Mattia Vailati
 

Summary: 1
A Method for Reducing Redundant Line Segments
in Maps
Francesco Amigoni Mattia Vailati
Dipartimento di Elettronica e Informazione, Politecnico di Milano, Milano, Italy
Abstract-- Segment-based maps have been recently promoted
as a way to compactly represent indoor environments. Their
efficient use in path planning and localization processes requires
to limit the number of redundant line segments representing
the same portion of the environment. This problem has been
only partially addressed by the robotic mapping community. In
this paper, we propose a method for reducing redundant line
segments in maps that is independent of how line segments are
acquired and represented. The method is based on the idea of
determining sets of line segments that represent the same objects
in the environment and of approximating them with single line
segments. Experimental results show that the proposed method
can produce smaller maps than alternative methods, preserving
the representation of the important features of the environment.
Index Terms-- Robotic mapping. Segment-based maps.

  

Source: Amigoni, Francesco - Dipartimento di Elettronica e Informazione, Politecnico di Milano

 

Collections: Computer Technologies and Information Sciences