Hierarchical voronoi graphs : spatial representation and reasoning for mobile robots

Bibliographic Details
Main Author: Wallgrun, Jan Oliver (Author)
Format: Book
Language:English
Published: New York : Springer , 2009
Subjects:
Table of Contents:
  • 1. Introduction
  • 2. Robot mapping
  • 3. Voronoi-based spatial representations
  • 4. Simplification and hierarchical voronoi graph construction
  • 5. Voronoi graph matching for data association
  • 6. Global mapping: minimal route graphs under spatial constraints
  • 7. Experimental evalution
  • 8. Conclusions and outlook