Matching Paths in Topological Maps

Topological maps have many applications in robotics. Matching two topological maps from the same environment can be used for map merging, place detection, map evaluation and other purposes. In this paper we present an approach to match two corresponding edges from two Topology Graphs to each other based on the actual path with which the vertices of the edges are connected in the underlying 2D grid maps. We perform experiments with two artificial maps as well as with four maps from the RoboCup Rescue WorldCup 2010.