Local metrical and global topological maps in the Hybrid Spatial Semantic Hierarchy

Benjamin Kuipers, Joseph Modayil, Patrick Beeson, Matt MacMahon, and Francesco Savelli. Local metrical and global topological maps in the Hybrid Spatial Semantic Hierarchy. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 4845–4851, New Orleans, Louisiana, April 2004.

Abstract

Topological and metrical methods for representing spatial knowledge have complementary strengths. We present a hybrid extension to the Spatial Semantic Hierarchy that combines their strengths and avoids their weaknesses. Metrical SLAM methods are used to build local maps of small-scale space within the sensory horizon of the agent, while topological methods are used to represent the structure of large-scale space. We describe how a local perceptual map is analyzed to identify a local topology description and is abstracted to a topological place. The map-building method creates a set of topological map hypotheses that are consistent with travel experience. The set of maps is guaranteed under reasonable assumptions to include the correct map. We demonstrate the method on a real environment with multiple nested large-scale loops.

Additional Information

Talk slides

BibTeX

@InProceedings{Kuipers-icra-04,
  author =       {Benjamin Kuipers and Joseph Modayil and Patrick Beeson and
                  Matt MacMahon and Francesco Savelli},
  title =        {Local metrical and global topological maps in the {Hybrid
                  Spatial Semantic Hierarchy}},
  booktitle =    {Proceedings of the IEEE International Conference on Robotics
                  and Automation (ICRA)},
  year =         2004,
  address =      {New Orleans, Louisiana},
  month =        {April},
  pages =        {4845--4851},
  abstract =     {Topological and metrical methods for representing spatial
                  knowledge have complementary strengths. We present a hybrid
                  extension to the Spatial Semantic Hierarchy that combines
                  their strengths and avoids their weaknesses. Metrical SLAM
                  methods are used to build local maps of small-scale space
                  within the sensory horizon of the agent, while topological
                  methods are used to represent the structure of large-scale
                  space. We describe how a local perceptual map is analyzed to
                  identify a local topology description and is abstracted to a
                  topological place. The map-building method creates a set of
                  topological map hypotheses that are consistent with travel
                  experience. The set of maps is guaranteed under reasonable
                  assumptions to include the correct map. We demonstrate the
                  method on a real environment with multiple nested
                  large-scale loops.},
  bib2html_pubtype ={Refereed Conference},
  bib2html_rescat ={Topological/Hybrid Map-Building},
  bib2html_extra_info ={<a
                  href="http://personal.traclabs.com/~pbeeson/talks/Kuipers-icra-04_talk.pdf">
                  Talk slides</a>},
}

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