Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Robust Structure Identification and Room Segmentation of Cluttered
  Indoor Environments from Occupancy Grid Maps   Identifying the environment's structure, i.e., to detect core components as
rooms and walls, can facilitate several tasks fundamental for the successful
operation of indoor autonomous mobile robots, including semantic environment
understanding. These robots often rely on 2D occupancy maps for core tasks such
as localisation and motion and task planning. However, reliable identification
of structure and room segmentation from 2D occupancy maps is still an open
problem due to clutter (e.g., furniture and movable object), occlusions, and
partial coverage. We propose a method for the RObust StructurE identification
and ROom SEgmentation (ROSE^2 ) of 2D occupancy maps, which may be cluttered
and incomplete. ROSE^2 identifies the main directions of walls and is resilient
to clutter and partial observations, allowing to extract a clean, abstract
geometrical floor-plan-like description of the environment, which is used to
segment, i.e., to identify rooms in, the original occupancy grid map. ROSE^2 is
tested in several real-world publicly-available cluttered maps obtained in
different conditions. The results show how it can robustly identify the
environment structure in 2D occupancy maps suffering from clutter and partial
observations, while significantly improving room segmentation accuracy. Thanks
to the combination of clutter removal and robust room segmentation ROSE^2
consistently achieves higher performance than the state-of-the-art methods,
against which it is compared.

24
The categories of this paper are: dg-ga
15
The categories of this paper are: nucl-ex
19
The categories of this paper are: eess
2
The categories of this paper are: math
11
The categories of this paper are: hep-lat
16
The categories of this paper are: stat
22
The categories of this paper are: chao-dyn
25
The categories of this paper are: patt-sol
37
The categories of this paper are: supr-con
17
The categories of this paper are: q-fin
4
The categories of this paper are: cond-mat
10
The categories of this paper are: q-bio
18
The categories of this paper are: econ
33
The categories of this paper are: plasm-ph
27
The categories of this paper are: comp-gas
7
The categories of this paper are: hep-th