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Citation

Petr Neduchal and Miroslav Flídr and Miloš Železný : Fast Frontier Detection Approach in Consecutive Grid Maps . International Conference on Interactive Collaborative Robotics, Lecture Notes in Computer Science, vol. 11097, p. 192-201, 2018.

Abstract

This paper deals with frontiers detection in occupancy grid maps. The proposed method is based on differences between consecutive maps. Using this approach, frontiers detection is accelerated by calculating the third map which contains only new data. Thus, only new frontiers are detected and added to the list of frontiers. The main contribution of this paper is the description of the proposed approach and its open sourced implementation in Python. Moreover, several results of experiments are discussed. The proposed approach is capable to run very fast even for large maps with many frontiers.

Detail of publication

Title: Fast Frontier Detection Approach in Consecutive Grid Maps
Author: Petr Neduchal ; Miroslav Flídr ; Miloš Železný
Language: English
Date of publication: 19 Aug 2018
Year: 2018
Type of publication: Papers in proceedings of reviewed conferences
Book title: International Conference on Interactive Collaborative Robotics
Series: Lecture Notes in Computer Science
Číslo vydání: 11097
Page: 192 - 201
DOI: 10.1007/978-3-319-99582-3_20
ISBN: 978-3-319-99581-6
/ 2019-11-21 09:21:51 /

Keywords

Autonomous robotics, Frontier detection, Localization, mapping, Image processing

BibTeX

@INPROCEEDINGS{PetrNeduchal_2018_FastFrontier,
 author = {Petr Neduchal and Miroslav Fl\'{i}dr and Milo\v{s} \v{Z}elezn\'{y}},
 title = {Fast Frontier Detection Approach in Consecutive Grid Maps},
 year = {2018},
 volume = {11097},
 pages = {192-201},
 booktitle = {International Conference on Interactive Collaborative Robotics},
 series = {Lecture Notes in Computer Science},
 ISBN = {978-3-319-99581-6},
 doi = {10.1007/978-3-319-99582-3_20},
 url = {http://www.kky.zcu.cz/en/publications/PetrNeduchal_2018_FastFrontier},
}