We are interested in the definition and detection of landmarks and local reference frames in a large-scale environment. We are examining automatic methods for generating coupled navigation and sensing algorithms that are generalized across specific sensing technologies such as vision and sonar. These landmarks and reference frames are used to construct a hybrid topological metric map. The representation consists of local metric maps connected together to form a graph. Each local map is considered a node in the graph and the edges of the graph qualitatively describe the hierarchy and relationship of neighbouring nodes. The work is inspired by biological environment perception.
S. Simhon, G. Dudek