Abstract
Map Representation of the Real World is an essential step in robotics for using the mathematical methods in an abstract way. In addition to grid-based and topological studies on this area, this paper uses both approaches representing the environment with independent graph trees for all axes. We are proposing a methodology that allows us to substitute point clouds on grids in an efficient way and can be easily adapted to multi-system approaches even in real time with low-level computational systems.
Original language | English |
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Pages (from-to) | 575-589 |
Number of pages | 15 |
Journal | Advanced Robotics |
Volume | 32 |
Issue number | 11 |
DOIs | |
Publication status | Published - 3 Jun 2018 |
Bibliographical note
Publisher Copyright:© 2018, © 2018 Taylor & Francis and The Robotics Society of Japan.
Keywords
- environment modeling
- graph trees
- grid mapping
- occupancy grids
- Space partitioning