# CONSTRAINT-FREE TOPOLOGICAL MAPPING AND PATH PLANNING BY MAXIMA DETECTION OF THE KERNEL SPATIAL CLEARANCE DENSITY

### Panagiotis Papadakis, Fiora Pirri, Mario Gianni, Matia Pizzoli

#### Abstract

Asserting the inherent topology of the environment perceived by a robot is a key prerequisite of high-level decision making. This is achieved through the construction of a concise representation of the environment that endows a robot with the ability to operate in a coarse-to-fine strategy. In this paper, we propose a novel topological segmentation method of generic metric maps operating concurrently as a path-planning algorithm. First, we apply a Gaussian Distance Transform on the map that weighs points belonging to free space according to the proximity of the surrounding free area in a noise resilient mode. We define a region as the set of all the points that locally converge to a common point of maximum space clearance and employ a weighed meanshift gradient ascent onto the kernel space clearance density in order to detect the maxima that characterize the regions. The spatial intra-connectivity of each cluster is ensured by allowing only for linearly unobstructed mean-shifts which in parallel serves as a path-planning algorithm by concatenating the consecutive mean-shift vectors of the convergence paths. Experiments on structured and unstructured environments demonstrate the effectiveness and potential of the proposed approach.

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#### Paper Citation

#### in Harvard Style

Papadakis P., Pirri F., Pizzoli M. and Gianni M. (2012). **CONSTRAINT-FREE TOPOLOGICAL MAPPING AND PATH PLANNING BY MAXIMA DETECTION OF THE KERNEL SPATIAL CLEARANCE DENSITY** . In *Proceedings of the 1st International Conference on Pattern Recognition Applications and Methods - Volume 2: ICPRAM,* ISBN 978-989-8425-99-7, pages 71-79. DOI: 10.5220/0003735300710079

#### in Bibtex Style

@conference{icpram12,

author={Panagiotis Papadakis and Fiora Pirri and Matia Pizzoli and Mario Gianni},

title={CONSTRAINT-FREE TOPOLOGICAL MAPPING AND PATH PLANNING BY MAXIMA DETECTION OF THE KERNEL SPATIAL CLEARANCE DENSITY},

booktitle={Proceedings of the 1st International Conference on Pattern Recognition Applications and Methods - Volume 2: ICPRAM,},

year={2012},

pages={71-79},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0003735300710079},

isbn={978-989-8425-99-7},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the 1st International Conference on Pattern Recognition Applications and Methods - Volume 2: ICPRAM,

TI - CONSTRAINT-FREE TOPOLOGICAL MAPPING AND PATH PLANNING BY MAXIMA DETECTION OF THE KERNEL SPATIAL CLEARANCE DENSITY

SN - 978-989-8425-99-7

AU - Papadakis P.

AU - Pirri F.

AU - Pizzoli M.

AU - Gianni M.

PY - 2012

SP - 71

EP - 79

DO - 10.5220/0003735300710079