Machine Learning Applied to Topological Mapping for Structure Recognition

Abstract

This paper presents a structural recognition system using machine learning algorithms (Multilayer Perceptron, Support Vector Machine and Random Forest) and the environment information to analyzes the feasibility of the use of machine learning methods for the construction of topological maps. The proposed method combines the recognized information from a given scene with a topological graph to create a map. This map can be used to plan high-level tasks of robotic navigation. The topological nodes are used to store semantic information, such as the robot’s poses, sensor data and scene characteristics. The machine learning algorithms classification of the structural information as either rooms, corridors or doors obtained a satisfactory performance. The structural recognition provided by classification presents accuracy greater than 97% and topological maps built efficiently of classification.