학술논문
Sphere-Graph: A Compact 3D Topological Map for Robotic Navigation and Segmentation of Complex Environments
Document Type
Periodical
Author
Source
IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 9(3):2567-2574 Mar, 2024
Subject
Language
ISSN
2377-3766
2377-3774
2377-3774
Abstract
Topological maps are a common framework for enabling autonomous robotic navigation. To be effective for robotic exploration the maps must be able to be generated quickly and compact enough to store on lightweight hardware. Here we propose a novel 3D topological map called Sphere-Graph which has adaptive edge lengths, can be quickly generated, and can be used to semantically identify hallways and rooms to produce a compact representation of complex environments. We give examples of the Sphere-Graph representation of large 3D urban and cave environments.