Frontier Detection in Consecutive Grid Maps with Set Reduction

Abstract

The paper deals with the problem of frontier detection. The main contribution of the paper is an approach for reducing a set of detected frontiers. All maps in the paper are assumed to be 2D occupancy grid maps. The detection algorithm is based on computing fused map from the maps obtained in the last two-time steps. Frontiers are detected in the fused map instead of the current map. Moreover, the set of detected frontiers is then reduced by applying two restriction rules. The proposed algorithm is verified in the experiment performed in the simulation environment. The results are compared with a basic naive detection approach and with an approach which does not apply the reducing step.