Perception-based qualitative map building using autonomous mobile robots

In this paper, we propose a method of map building based on landmark and structural features in short period of time. It appears that human does not travel with an exact 3D map of environment in mind but moves by using only topological perception about the environment and landmark information. Similar to that of human perception, the map generated using mobile robots are represented as topological graph with nodes, links, landmark information, etc. which may be used for navigation as well as self localization by the same robot or other entities.