Abstract:In this paper, we propose a novel method to build indoor map information by utilizing a hand-drawn map as prior information is given. So far, previous studies using the hand-drawn map have been limited to robot pose estimation and navigation. In our approach, finding the correspondence between the shape of the real environment and the shape of the hand-drawn map is performed to build accurate map information. In addition, even if the estimation of the robot pose on the hand-drawn map fails, our method can cont… Show more
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