Online Semantic Exploration of Indoor Maps

02/21/2020

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by   Ziyuan Liu, et al.

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In this paper we propose a method to extract an abstracted floor plan from typical grid maps using Bayesian reasoning. The result of this procedure is a probabilistic generative model of the environment defined over abstract concepts. It is well suited for higher-level reasoning and communication purposes. We demonstrate the effectiveness of the approach through real-world experiments.