Paper Info
Title
Using sketch-maps for robot navigation: Interpretation and matching
Abstract
We present a study on sketch-map interpretation and sketch to robot map matching, where maps have nonuniform scale, different shapes or can be incomplete. For humans, sketch-maps are an intuitive way to communicate navigation information, which makes it interesting to use sketch-maps for human robot interaction; e.g., in emergency scenarios. To interpret the sketch-map, we propose to use a Voronoi diagram that is obtained from the distance image on which a thinning parameter is used to remove spurious branches. The diagram is extracted as a graph and an efficient error-tolerant graph matching algorithm is used to find correspondences, while keeping time and memory complexity low. A comparison against common algorithms for graph extraction shows that our method leads to twice as many good matches. For simple maps, our method gives 95% good matches even for heavily distorted sketches, and for a more complex real-world map, up to 58%. This paper is a first step toward using unconstrained sketch-maps in robot navigation.
Year
DOI
Venue
2016
10.1109/SSRR.2016.7784307
2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Keywords
Field
DocType
robot navigation,sketch-map interpretation,robot map matching,human robot interaction,Voronoi diagram,distance image,spurious branches,error-tolerant graph matching algorithm,memory complexity,time complexity,graph extraction
Computer vision,Computer science,Diagram,Matching (graph theory),Artificial intelligence,Voronoi diagram,Robot,Spurious relationship,Human–robot interaction,Map matching,Sketch
Conference
ISSN
ISBN
Citations 
2374-3247
978-1-5090-4350-7
3
PageRank 
References 
Authors
0.40
15
3
Name
Order
Citations
PageRank
Malcolm Mielle161.47
Martin Magnusson27110.10
Achim J. Lilienthal31468113.18