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Summary: A Method for Building Small-Size
Segment-Based Maps
Francesco Amigoni, Giulio Fontana, and Fabio Garigiola
Dipartimento di Elettronica e Informazione, Politecnico di Milano,
Piazza Leonardo da Vinci 32, 20133 Milano MI, Italy
{amigoni,fontana}@elet.polimi.it, garigiol@airlab.elet.polimi.it
Summary. Segment-based maps have recently emerged as an effective solution to
reduce the dimensions of environment models built by mobile robots. In this paper,
we present a novel method for building segment-based maps that contain a small
number of line segments. The method works also when data are collected by many
robots. Experimental results show that our approach is effective in significantly
reducing the size of the resulting maps.
1 Introduction
Robotic mapping addresses the problem of acquiring spatial models of physical en-
vironments through mobile robots [12]. Multirobot mapping has attracted atten-
tion because of both the robustness and the efficiency of exploring in parallel with
multiple robots. Maps can be represented topologically (e.g., by graph-based data
structures) or geometrically (e.g., by data structures storing grids, points, or line
segments). Segment-based maps have been recently advocated as a way to reduce
the dimensions of the data structures storing the representation of the environ-
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