The wall histogram method

摘要

Occupancy maps, are a standard method for probabilistic spatial representations of the environment of a mobile robot. They are easy to build and maintain and suffice for many navigation tasks. However, for solving more complex tasks the need tointegrate metric occupancy maps with topological or relational spatial information arises. An important step in the automatic extraction of symbolic representations from subsymbolic data such as occupancy maps is the segmentation of occupancy maps intoareas with similar occupancy. Formerly suggested methods usually lead to unintuitive segmentations, which are difficult to match with symbolic concepts like rooms or hallways. We represent the wall histogram method, which makes use of concepts andalgorithms developed in computer vision, to yield more intuitive occupancy map segmentations.