Benjamin Kuipers, Joseph Modayil, Patrick Beeson, Matt MacMahon, and Francesco Savelli. 2004.
Local metrical and global topological maps in the Hybrid Spatial Semantic Hierarchy.
IEEE International Conference on Robotics and Automation (ICRA-04).


Topological and metrical methods for representing spatial knowledge have complementary strengths. We present a hybrid extension to the Spatial Semantic Hierarchy that combines their strengths and avoids their weaknesses. Metrical SLAM methods are used to build local maps of small-scale space within the sensory horizon of the agent, while topological methods are used to represent the structure of large-scale space. We describe how a local perceptual map is analyzed to identify a local topology description and is abstracted to a topological place. The map-building method creates a set of topological map hypotheses that are consistent with travel experience. The set of maps is guaranteed under reasonable assumptions to include the correct map. We demonstrate the method on a real environment with multiple nested large-scale loops.


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