Topological Maps: Overview

• Graphs:

  • V: landmarks with cues
  • E: paths between the landmark

• Advantages:

  • compact
  • no location estimation
  • no map matching
  • incrementally built

• Disadvantages:

  • no metric information
  • new problems:
    • Landmark selection
    • Landmark detection
    • Landmark recognition

view

classifier

check

edge

no edge;new graph

yes

no

old

new vertex;new edge

new

Environment

Sensors

Purpose

Structured;

Outdoor!

Planning

Cameras

Range-Finders

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