Hierarchical Topometric Representation of 3D Robotic Maps
Zhenpeng He,
Hao Sun,
Jiawei Hou
et al.
Abstract:In this paper, we propose a method for generating a hierarchical, volumetric topological map from 3D point clouds. There are three basic hierarchical levels in our map: storey − region − volume. The advantages of our method are reflected in both input and output. In terms of input, we accept multi-storey point clouds and building structures with sloping roofs or ceilings. In terms of output, we can generate results with metric information of different dimensionality, that are suitable for different robotics ap… Show more
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