Making 2D Map of Environments Based upon Routes Scenes

This paper proposes a method for making a map of large scale environment based upon route scenes, assuming that the topological relation of routes at intersections is known. A panoramic representation is used for describing route scenes, and the number of routes connecting at an intersection is assumed to be known. The idea is to decompose a 2D graph into a number of closed loops. By detecting the closed loops and storing the relation among them, we can describe the 2D map based upon route scenes. A robot can obtain a closed loop by taking the same turn (leftmost for example) at every intersection when it moves along routes. According to the information on routes at intersections, the robot can select unmoved routes for finding new closed loops. By fusing new closed loops with found ones, the robot can, further, build the map of environments. The effectiveness of our method are shown by experiment in a real-world environment.

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