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Authors: Panagiotis Papadakis ; Mario Gianni ; Fiora Pirri and Matia Pizzoli

Affiliation: University of Rome “La Sapienza”, Italy

Keyword(s): Topological mapping, Path planning, Mean shift, Distance transform.

Related Ontology Subjects/Areas/Topics: Applications ; Pattern Recognition ; Perception ; Robotics ; Software Engineering

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. (More)

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Paper citation in several formats:
Papadakis, P.; Gianni, M.; Pirri, F. and Pizzoli, 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 1: ICPRAM; ISBN 978-989-8425-99-7; ISSN 2184-4313, SciTePress, pages 71-79. DOI: 10.5220/0003735300710079

@conference{icpram12,
author={Panagiotis Papadakis. and Mario Gianni. and Fiora Pirri. and Matia Pizzoli.},
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 1: ICPRAM},
year={2012},
pages={71-79},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003735300710079},
isbn={978-989-8425-99-7},
issn={2184-4313},
}

TY - CONF

JO - Proceedings of the 1st International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM
TI - CONSTRAINT-FREE TOPOLOGICAL MAPPING AND PATH PLANNING BY MAXIMA DETECTION OF THE KERNEL SPATIAL CLEARANCE DENSITY
SN - 978-989-8425-99-7
IS - 2184-4313
AU - Papadakis, P.
AU - Gianni, M.
AU - Pirri, F.
AU - Pizzoli, M.
PY - 2012
SP - 71
EP - 79
DO - 10.5220/0003735300710079
PB - SciTePress

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