Multi-Hypothesis Topological Mapping Using Qualitative Spatial Reasoning
Jan Oliver Wallgrün · National Conference on Artificial Intelligence · 2009
We describe a multi-hypothesis mapping system for mobile robots that learns graph-based topological representations. Our approach exploits direction information and the assumption of planarity to prune the space of possible map hypotheses. Qualitative spatial reasoning is used to check satisfiability of individual hypotheses. We evaluate the effects of absolute and relative direction information and incorporate the approach into a mapping system based on Voronoi graphs.