Philippe Hoppenot^*, Gilbert Pradel^*, Catalin Caleanu^**, Nicolas Perrin^*, Vincent Sommeilly^*

Abstract: This paper describes a frescoes based method aiming at the representation of an indoor environment for mobile robot navigation. In particular, it shows fresco’s landmarks construction and two selection criteria: barycentre and resemblance. The experimental results yield optimal threshold values for the above mentioned criteria, leading to the development of a language for indoor environment representation.

Keywords: qualitative environment representation, indoor navigation, mobile robotics, disabled people assistance