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

Panagiotis Papadakis, Mario Gianni, Fiora Pirri, Matia Pizzoli

2012

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.

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