Augmenting Topology-Based Maps with Geometric Information
E. Fabrizi and A. Saffiotti
Topology-based maps are a new representation of the workspace of
a mobile robot based on the topological notions of connectivity and
adjacency. In this paper, we show how to enrich a topology-based map
with geometric information useful for planning and navigation. Both the
topology-based map and this geometric information are automatically
extracted from sensor data.