ML Anthology

Representation and Computation of the Spatial Environment for Indoor Navigation

Dongsung Kim, Ramakant Nevatia
CVPR 1994 pp. 475-482
doi:10.1109/CVPR.1994.323869 /cvpr/1994/kim1994cvpr-representation/

Abstract

We introduce a spatial representation, s-map, for an indoor navigation robot. The s-map represents the locations of obstacles in a planar domain, where obstacles are defined as any objects that can block movement of the robot. In building the s-map, the viewing triangle constraint and the stability constraint are introduced for efficient verification of vertical surfaces. These verified vertical surfaces and 3-D segments of obstacles smaller than a robot, are mapped to the s-map by simply dropping height information. Thus, the s-map is made directly from 3-D segments with simple verification, and represents obstacles in a planar domain so that it becomes a navigable map for the robot without further processing. In addition to efficient map building, the s-map represents the environment more realistically and completely. Furthermore, the s-map converts many navigation problems in 3-D, such as map fusion and path planning, into 2-D ones. We present the analysis of the s-map in terms of complexity and reliability, and discuss its pros and cons. Moreover, we show the results of the s-maps for indoor environments.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

CVPR Semantic Scholar

Cite

Text

Kim and Nevatia. "Representation and Computation of the Spatial Environment for Indoor Navigation." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1994. doi:10.1109/CVPR.1994.323869

Markdown

[Kim and Nevatia. "Representation and Computation of the Spatial Environment for Indoor Navigation." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1994.](https://mlanthology.org/cvpr/1994/kim1994cvpr-representation/) doi:10.1109/CVPR.1994.323869

BibTeX

@inproceedings{kim1994cvpr-representation,
  title     = {{Representation and Computation of the Spatial Environment for Indoor Navigation}},
  author    = {Kim, Dongsung and Nevatia, Ramakant},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {1994},
  pages     = {475-482},
  doi       = {10.1109/CVPR.1994.323869},
  url       = {https://mlanthology.org/cvpr/1994/kim1994cvpr-representation/}
}