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Incremental topological segmentation for semi-structured environments using discretized GVG

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Abstract

Over the past few decades, topological segmentation has been much studied, especially for structured environments. In this work, we first propose a set of criteria to assess the quality of topological segmentation, especially for semi-structured environments in 2D. These criteria provide a general benchmark for different segmentation algorithms. Then we introduce an incremental approach to create topological segmentation for semi-structured environments. Our novel approach is based on spectral clustering of an incremental generalized Voronoi decomposition of discretized metric maps. It extracts sparse spatial information from the maps, and builds an environment model which aims at simplifying the navigation task for mobile robots. Experimental results in real environments show the robustness and the quality of the topological map created by the proposed method. Extended experiments for urban search and rescue missions are performed to show the global consistency of the proposed incremental segmentation method using six different trails, during which the test robot traveled 1.8 km in total.

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Notes

  1. Please notice that the metric is to assess the quality of a segmentation result, rather than a parameter to be optimized.

  2. \(r_g\) is chosen to be 3 empirically.

  3. http://kartorobotics.com.

  4. Considering the limited space, we only show the final result of the segmentation here.

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Acknowledgments

This work was supported by HKUST project IGN13EG03; General Research Fund by Research Grants Council Hong Kong, “Heterogeneous multi-robot systems for hospital services (HeMRS)”, 16206014; partially supported by the EU FP7 project NIFTi (contract # 247870) and EU FP7 TRADR project (contract 609763).

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Authors and Affiliations

  1. Electronics and Computer Engineering Department, The Hong Kong University of Science and Technology, Kowloon, Hong Kong

    Ming Liu

  2. Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland

    Francis Colas, Luc Oth & Roland Siegwart

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  1. Ming Liu
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  2. Francis Colas
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  4. Roland Siegwart
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Correspondence to Ming Liu.

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Liu, M., Colas, F., Oth, L. et al. Incremental topological segmentation for semi-structured environments using discretized GVG. Auton Robot 38, 143–160 (2015). https://doi.org/10.1007/s10514-014-9398-8

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