The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Merging of Topological Map and Grid Map using Standardized Map Data Representation

표준화된 지도 데이터 표현방법을 이용한 위상지도와 격자지도의 병합

  • Jin, Hee-Seon (Mechanical Engineering, Sungkyunkwan University) ;
  • Yu, Wonpil (Robot/Congnitive System Research Department, Electronics and Telecommunications Research Institute) ;
  • Moon, Hyungpil (Mechanical Engineering, Sungkyunkwan University)
  • Received : 2014.01.21
  • Accepted : 2014.04.02
  • Published : 2014.05.28
Download PDF
⟨ Previous Next ⟩

Abstract

Mapping is a fundamental element for robotic services. There are available many types of map data representation such as grid map, metric map, topology map, etc. As more robots are deployed for services, more chances of exchanging map data among the robots emerge and standardization of map data representation (MDR) becomes more valuable. Currently, activities in developing MDR standard are underway in IEEE Robotics and Automation Society. The MDR standard is for a common representation and encoding of the two-dimensional map data used for navigation by mobile robots. The standard focuses on interchange of map data among components and systems, particularly those that may be supplied by different vendors. This paper aims to introduce MDR standard and its application to map merging. We have applied the basic structure of the MDR standard to a grid map and Voronoi graph as a kind of topology map and performed map merging between two different maps. Simulation results show that the proposed MDR is suitable for map data exchange among robots.

Keywords

Acknowledgement

Grant : 실외환경에 강인한 도로기반 저가형 자율주행기술개발

Supported by : 산업통상자원부

References

  1. A. Elfes, "Using Occupancy Grids for Mobile Robot Perception and Navigation", IEEE Computer, vol.. 22, no.6, pp.46-57, 1989
  2. D. V. Zwynsvoorde, T. Simeon, and R. Alami, "Incremental topological modeling using local voronoilike graphs," Proc. of IEEE/RSJ Int. Con. On Intelligent Robots and Systems, vol. 2, pp.897-902, 2001
  3. H. Choset, J. Burdick, "Sensor-based exploration: the hierarchical generalized voronoi graph," Int.Journal of Robotics Research, vol. 19, no.2, pp.96-125, 2000. https://doi.org/10.1177/02783640022066770
  4. D. F. D'souza, A. C. Wills, "Objects, Components, and Frameworks with UML: The Catalysis Approach," Addison-Wesley Professional, 1998
  5. A. Birk, S. Carpin, "Merging Occupancy Grid Maps From Multiple Robots," Proceedings of the IEEE, vol. .94, no.7, pp.1384,1397, July 2006 https://doi.org/10.1109/JPROC.2006.876965
  6. W. H. Huang, K. R. Beevers, "Topological map merging," The International Journal of Robotics Research, vol. 24, no. 8, pp.601-613, 2005 https://doi.org/10.1177/0278364905056348
  7. H. Choset, I. Konukseven, and J. Burdick, "Mobile robot navigation: Issues in implementation the generalized voronoi graph in the plane," in Proc. of IEEE/MFI, pp. 241-248, 1996.
  8. H. P. Moravec, "Sensor fusion in certainty grids for mobile robots," AI magazine, vol. 9, no.2, pp.61-74, 1988
  9. H. P. Moravec and A. E. Elfes, "High resolution maps from wide angle sonar," In Proceedings of IEEE International Conference on Robotics and Automation, pp. 116-121, 1985
  10. C. Shi, Y. Wang, J. Yang, "Online Topological Map Building and Qualitative Localization in Large-Scale Environment," Robotics and Autonomous Systems, vol. 58, no. 5, pp.488-496, 2010 https://doi.org/10.1016/j.robot.2010.01.009
  11. H. Choset, K. Nagatani, "Topological Simultaneous Localization and Mapping(SLAM): Toward Exact Localization without Explicit Localization," IEEE Tran. Robotics and Automation, vol. 17, no.2, pp.125-137, 2001 https://doi.org/10.1109/70.928558
  12. B. Yamauchi, A. Schultz, W. Adams, "Mobile Robot Exploration and Map-Building with Continuous Localizaton," In Proceedings of IEEE International Conference on Robotics and Automation, vol. 4, pp.3715-3720, 1998
  13. K. Konolige, "Improved Occupancy Grids for Map Building," Autonomous Robots, vol. 4, no.4, pp.351-367, 1997 https://doi.org/10.1023/A:1008806422571
  14. T.H. Kolbe, G. Groger, L. Plumer, "CityGML: Interoperable Access to 3D City Models," Geoinformation for Disaster Management, pp.883-899, 2005
  15. T. H. Kolbe, "Representing and Exchanging 3D City Models with CityGML," 3D Geo-Information Sciences Lecture Notes in Geoinformation and Cartography, pp.15-31, 2009
  16. K.J. Li, J. Lee, "Indoor spatial awareness initiative and standard for indoor spatial data," Proceedings of IROS 2010 Workshop on Standardization for Service Robot, vol. 18, 2010
  17. Y.J. Kim, H. Y. Kang, J. Lee, "Development of Indoor Spatial Data Model Using CityGML ADE," Journal of Korea Spatial Information Society, vol. XL-2/W2, pp.41-45, 2013
  18. Y. Wei, L. Di, B. Zhao, G. Liao, A. Chen, "Transformation of HDF-EOS metadata from the ECS model to ISO 19115-based XML." Computers & Geosciences, vol. 33, pp.238-247, 2007 https://doi.org/10.1016/j.cageo.2006.06.006
  19. H. Ryu, W. K. Chung, "Local map-based exploration strategy for mobile robots," Journal of Korea Robotics Society, Vol. 8. No. 4, pp. 256-265, 2013 https://doi.org/10.7746/jkros.2013.8.4.256
  20. J. T. Park, J. B. Song, "Building of a hierarchical semantic map with classified area information in home environments," Journal of Korea Robotics Society, Vol. 7. No. 4, pp. 252-258, 2012 https://doi.org/10.7746/jkros.2012.7.4.252

Cited by

  1. A Standard for Map Data Representation: IEEE 1873-2015 Facilitates Interoperability Between Robots vol.25, pp.1, 2018, https://doi.org/10.1109/MRA.2017.2746179