Topological map induction using neighbourhood information of places
In topological mapping, perceptual aliasing can cause different places to appear indistinguishable to the robot. In case of severely corrupted or non-available odometry information, topological mapping is difficult as the robot is challenged with the loop-closing problem; that is to determine whether it has visited a particular place before.
topological mapping neighbourhood information perceptual aliasing autonomous mobile robots colour histograms sonar stochastic local search particle filter