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Method, system, and computer product for forming a graph structure that describes free and occupied areas

  • US 8,286,122 B2
  • Filed: 06/14/2010
  • Issued: 10/09/2012
  • Est. Priority Date: 10/23/2002
  • Status: Expired due to Fees
First Claim
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1. A method implemented in a computer for forming a graph to describe a location having a free area and an occupied area, comprising:

  • determining a topological graph structure for only the free area;

    selecting a point in the topological graph structure;

    for the selected point of the topological graph structure, determining an adjacent occupied area;

    selecting an occupied point for the adjacent occupied area, the occupied point being at a shortest physical distance to the selected point of the topological graph structure;

    determining associated location information for the occupied point; and

    forming, by the computer, the graph from the selected point of the topological graph structure and from the associated location information for the occupied point.

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