Robotic Exploration through Semantic Topometric Mapping
Scott Fredriksson,Akshit Saradagi,George Nikolakopoulos,Scott Fredriksson,Akshit Saradagi,George Nikolakopoulos
In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map is generated by segmenting the grid map of the currently explored parts of the environment into regions, such as intersections, pathways, dead-ends, and unexplored frontiers, which constitute the structural semantics of...
