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Voronoi Graph Matching for Robot Localization and Mapping

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Transactions on Computational Science IX

Part of the book series: Lecture Notes in Computer Science ((TCOMPUTATSCIE,volume 6290))

Abstract

In this article, we develop a localization and map building approach for a mobile robot in which annotated generalized Voronoi graphs are used as the robot’s spatial representation of the environment. The core of our approach is a matching scheme for solving the data association problem of identifying corresponding parts in two tree-formed Voronoi graphs, one representing a local observation and the other one representing the robot’s internal map. Our approach is based on the notion of edit distance which means it computes the cost optimal way to transform both graphs into the same graph. The costs for adding or deleting branches are based on a measure that assesses the stability of nodes and edges in the graphs as well as their relevance for navigation. In addition, we incorporate spatial constraints based on the graph annotations which leads to a top-down dynamic programming implementation that performs reliably and efficiently in practice.

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Author information

Authors and Affiliations

  1. University of Bremen, Enrique-Schmidt-Str. 5, 28359, Bremen, Germany

    Jan Oliver Wallgrün

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  1. Jan Oliver Wallgrün
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Editors and Affiliations

  1. Department of Computer Science, University of Calgary, 2500 University Drive N.W., T2N 1N4, Calgary, AB, Canada

    Marina L. Gavrilova

  2. Exascala Ltd., Unit 9, 97 Rickman Drive, B15 2AL, Birmingham, UK

    C. J. Kenneth Tan

  3. Department of Informatics and Mathematical Modeling, Technical University of Denmark, Richard Petersens Plads, 2800, Lyngby, Denmark

    François Anton

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Wallgrün, J.O. (2010). Voronoi Graph Matching for Robot Localization and Mapping. In: Gavrilova, M.L., Tan, C.J.K., Anton, F. (eds) Transactions on Computational Science IX. Lecture Notes in Computer Science, vol 6290. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16007-3_4

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  • DOI: https://doi.org/10.1007/978-3-642-16007-3_4

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-16006-6

  • Online ISBN: 978-3-642-16007-3

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