Generating topological map from occupancy grid-map using virtual door detection. Joo, K., Lee, T., Baek, S., & Oh, S. In Proceedings of IEEE Congress on Evolutionary Computation, pages 1-6, 2010.
Generating topological map from occupancy grid-map using virtual door detection [link]Paper  bibtex   
@inproceedings{ dblp2964428,
  title = {Generating topological map from occupancy grid-map using virtual door detection},
  author = {Kwangro Joo and Tae-Kyeong Lee and Sanghoon Baek and Se-Young Oh},
  author_short = {Joo, K. and Lee, T. and Baek, S. and Oh, S.},
  bibtype = {inproceedings},
  type = {inproceedings},
  year = {2010},
  key = {dblp2964428},
  id = {dblp2964428},
  biburl = {http://www.dblp.org/rec/bibtex/conf/cec/JooLBO10},
  url = {http://dx.doi.org/10.1109/CEC.2010.5586510},
  conference = {IEEE Congress on Evolutionary Computation},
  pages = {1-6},
  text = {IEEE Congress on Evolutionary Computation 2010:1-6},
  booktitle = {Proceedings of IEEE Congress on Evolutionary Computation}
}
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