| | |
Summary: Analysis of Methods for Reducing Line Segments in Maps:
Towards a General Approach
Francesco Amigoni and Simone Gasparini
Abstract-- Segment-based maps are emerging as an efficient
way to represent the environments in which mobile robots
operate. When compared to grid-based maps, maps composed
of line segments usually need less space to be stored. However,
very little effort has been devoted to methods that allow to
reduce the size of segment-based maps by removing redundant
line segments that represent the same object in the environment.
This problem is usually addressed with rather ad hoc methods
that are embedded in mapping systems. In this paper, we put
forward the problem of reducing the size of segment-based
maps by presenting a survey of the existing methods and by
experimentally evaluating some of them. Our results can be
used to set out some guidelines for the development of a general
approach to reducing redundant line segments in maps.
I. INTRODUCTION
Techniques for robot map building have obtained a con-
siderable attention in the last years [1]. More recently, a
|
