Lam, Obadiah, Dayoub, Feras, Schulz, Ruth, & Corke, Peter (2015) Automated Topometric Graph Generation from Floor Plan Analysis. In 2015 Australasian Conference on Robotics and Automation (ACRA 2015), 2-4 December 2015, Canberra, ACT.
The world is rich with information such as signage and maps to assist humans to navigate. We present a method to extract topological spatial information from a generic bitmap floor plan and build a topometric graph that can be used by a mobile robot for tasks such as path planning and guided exploration. The algorithm first detects and extracts text in an image of the floor plan. Using the locations of the extracted text, flood fill is used to find the rooms and hallways. Doors are found by matching SURF features and these form the connections between rooms, which are the edges of the topological graph. Our system is able to automatically detect doors and differentiate between hallways and rooms, which is important for effective navigation. We show that our method can extract a topometric graph from a floor plan and is robust against ambiguous cases most commonly seen in floor plans including elevators and stairwells.
The proposed system takes as an input a bitmap image of a floor plan and returns a topometric map with the rooms as nodes and the doors as edges, shown here overlaid on an occupancy grid map: