Mr. Konstantin Yakovlev Profile

Konstantin Yakovlev

SPIE Involvement:

Author

Publications (1)

This will count as one of your downloads.

You will have access to both the presentation and article (if available).

DOWNLOAD NOW

This content is available for download via your institution's subscription. To access this item, please sign in to your personal account.

Email or Username Forgot your username?

Password Forgot your password?

Show

Keep me signed in

No SPIE account? Create an account

Proceedings Article | 3 April 2024 Paper

Maintaining topological maps for mobile robots

Kirill Muravyev, Konstantin Yakovlev

Proceedings Volume 13072, 130720W (2024) https://doi.org/10.1117/12.3023459

KEYWORDS: Visibility, Mobile robots, Computer simulations

Read Abstract +

Nowadays, mobile robots solve various tasks realted to navigation in an unknown or changing environment. In such conditions, mapping the environment is crucial for mobile robot navigation. Conventionally, maps are built as 2D or 3D dense metric structures which require much memory for storage and much computational time for path planning, especially in large environments. Representing a map as a topological structure (i.e. a graph of locations) allows fast path planning with low memory consumption. In this paper, we present a method of real-time topological map building and updating from odometry measurements and local point clouds. The proposed method guarantees the topological graph connectivity and adds shortcuts to the graph to optimize paths. We tested our method in a simulated environment and measured efficiency of path planning in the obtained graphs. In all the tests, the SPL value exceeded 81%, with 100% success rate. The source code of our method is available at https://github.com/KirillMouraviev/simple_toposlam_model.

My Library

You currently do not have any folders to save your paper to! Create a new folder below.

Folder Name

Folder Description

View contact details

UPDATE YOUR PROFILE

Is this your profile? Update it now.

Sign into your SPIE.org account

Don’t have a profile and want one?

Create an account on SPIE.org

Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks. You are receiving this notice because your organization may not have SPIE eBooks access.*

*Shibboleth/Open Athens users─please sign in to access your institution's subscriptions.

To obtain this item, you may purchase the complete book in print or electronic format on SPIE.org.

ORGANIZATIONAL
Sign in with credentials provided by your organization.

Organizational Username

Organizational Password

Show/Hide Password

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members:

Non-members: ADD TO CART

Keywords/Phrases

Search In:

Publication Years