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Fast Frontier Detection Approach in Consecutive Grid Maps

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Book cover Interactive Collaborative Robotics (ICR 2018)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11097))

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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.

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Notes

  1. 1.

    http://wiki.ros.org/stage.

  2. 2.

    https://github.com/neduchal/frontiers_detector.

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Acknowledgments

This work was supported by the Ministry of Education of the Czech Republic, project No. LTARF18017. This work was supported by the Ministry of Education, Youth and Sports of the Czech Republic project No. LO1506.

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Authors and Affiliations

  1. Faculty of Applied Sciences, New Technologies for the Information Society, University of West Bohemia, Univerzitní 8, 306 14, Plzeň, Czech Republic

    Petr Neduchal, Miroslav Flídr & Miloš Železný

Authors
  1. Petr Neduchal
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  2. Miroslav Flídr
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  3. Miloš Železný
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Corresponding author

Correspondence to Petr Neduchal .

Editor information

Editors and Affiliations

  1. St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. TU Munich, Munich, Germany

    Gerhard Rigoll

  3. Institute for Control Problem of the Russian Academy of Sciences, Moscow, Russia

    Roman Meshcheryakov

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Neduchal, P., Flídr, M., Železný, M. (2018). Fast Frontier Detection Approach in Consecutive Grid Maps. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2018. Lecture Notes in Computer Science(), vol 11097. Springer, Cham. https://doi.org/10.1007/978-3-319-99582-3_20

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  • DOI: https://doi.org/10.1007/978-3-319-99582-3_20

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-99581-6

  • Online ISBN: 978-3-319-99582-3

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