Skip to Main content Skip to Navigation
Conference papers

Analysis of methods for reducing line segments in maps: Towards a general approach

Francesco Amigoni 1 Simone Gasparini 2
2 PERCEPTION - Interpretation and Modelling of Images and Videos
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology
Abstract : Segment-based maps are emerging as an efficient way to represent the environments in which mobile robots operate. When compared to grid-based maps, maps composed of line segments usually need less space to be stored. However, very little effort has been devoted to methods that allow to reduce the size of segment-based maps by removing redundant line segments that represent the same object in the environment. This problem is usually addressed with rather ad hoc methods that are embedded in mapping systems. In this paper, we put forward the problem of reducing the size of segment-based maps by presenting a survey of the existing methods and by experimentally evaluating some of them. Our results can be used to set out some guidelines for the development of a general approach to reducing redundant line segments in maps.
Document type :
Conference papers
Complete list of metadata

Cited literature [19 references]  Display  Hide  Download
Contributor : Simone Gasparini Connect in order to contact the contributor
Submitted on : Thursday, November 26, 2009 - 1:47:04 PM
Last modification on : Thursday, January 20, 2022 - 5:30:18 PM
Long-term archiving on: : Thursday, June 17, 2010 - 6:46:45 PM


Files produced by the author(s)




Francesco Amigoni, Simone Gasparini. Analysis of methods for reducing line segments in maps: Towards a general approach. IROS 2008 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2008, Nice, France. pp.2896-2901, ⟨10.1109/IROS.2008.4650847⟩. ⟨inria-00435547⟩



Record views


Files downloads