Topological navigation and qualitative localization for indoor environment using multi-sensory perception

P. Ranganathan, J. B. Hayet, M. Devy, S. Hutchinson, F. Lerasle

Research output: Contribution to journalConference articlepeer-review


This article describes a navigation system for a mobile robot which must execute motions in a building; the robot is equipped with a belt of ultrasonic sensors and with a camera. The environment is represented by a topological model based on a Generalized Voronoi Graph (GVG) and by a set of visual landmarks. Typically, the topological graph describes the free space in which the robot must navigate; a node is associated to an intersection between corridors, or to a crossing towards another topological area (an open space: rooms, hallways, ...); an edge corresponds to a corridor or to a path in an open space. Landmarks correspond to static, rectangular and planar objects (e.g. doors, windows, posters, ...) located on the walls. The landmarks are only located with respect to the topological graph: some of them are associated to nodes, other to edges. The paper is focused on the preliminary exploration task, i.e. the incremental construction of the topological model. The navigation task is based on this model: the robot self-localization is only expressed with respect to the graph.

Original languageEnglish (US)
Pages (from-to)137-144
Number of pages8
JournalRobotics and Autonomous Systems
Issue number2-3
StatePublished - Nov 30 2002
EventSIRS 2001 - Toulouse, France
Duration: Jul 18 2001Jul 20 2001


  • Generalized Voronoi Graph
  • Topological navigation
  • Visual landmarks

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications


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