Average Outward Flux Skeletons for Environment Mapping and Topology
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Average Outward Flux Skeletons for Environment Mapping and Topology
Matching
We consider how to directly extract a road map (also known as a topological representation) of an initially-unknown 2-dimensional environment via an online procedure that robustly computes a retraction of its boundaries. In this article, we first present the online construction of a topological map and the implementation of a …