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Open AccessArticle

URSIM: Unique Regions for Sketch Map Interpretation and Matching

School of Natural Science, University of Örebro, 70281 Örebro, Sweden
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Robotics 2019, 8(2), 43; https://doi.org/10.3390/robotics8020043
Received: 3 April 2019 / Revised: 31 May 2019 / Accepted: 3 June 2019 / Published: 5 June 2019
We present a method for matching sketch maps to a corresponding metric map, with the aim of later using the sketch as an intuitive interface for human–robot interactions. While sketch maps are not metrically accurate and many details, which are deemed unnecessary, are omitted, they represent the topology of the environment well and are typically accurate at key locations. Thus, for sketch map interpretation and matching, one cannot only rely on metric information. Our matching method first finds the most distinguishable, or unique, regions of two maps. The topology of the maps, the positions of the unique regions, and the size of all regions are used to build region descriptors. Finally, a sequential graph matching algorithm uses the region descriptors to find correspondences between regions of the sketch and metric maps. Our method obtained higher accuracy than both a state-of-the-art matching method for inaccurate map matching, and our previous work on the subject. The state of the art was unable to match sketch maps while our method performed only 10% worse than a human expert. View Full-Text
Keywords: map matching; sketch; human–robot interaction; interface; graph matching; segmentation map matching; sketch; human–robot interaction; interface; graph matching; segmentation
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Mielle, M.; Magnusson, M.; Lilienthal, A.J. URSIM: Unique Regions for Sketch Map Interpretation and Matching. Robotics 2019, 8, 43.

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