Incrementally Building Topology Graphs via Distance Maps
This work addresses mapping challenges for mobile robots, but it appears incremental as it builds on existing distance map methods for topological representation.
The paper tackles the problem of building topological maps for mobile robots by proposing a novel incremental framework using distance maps, which allows the map to grow as more sensor data is appended, demonstrated through results on popular maps and raw sensor data from a robot exploring an environment.
Mapping is an essential task for mobile robots and topological representation often works as a basis for the various applications. In this paper, a novel framework that can build topological maps incrementally is proposed. The algorithm is using a distance map, and in our framework the topological map can grow as we append more sensor data to the map. To demonstrate our algorithm, we show the result of the distance map based method on several popular maps and run the incremental framework with raw sensor data to have a growing topological map, as an example of a robot exploring the environment.