# Area Graph: Generation of Topological Maps using the Voronoi Diagram

arXiv: https://arxiv.org/abs/1910.01019 · HTML: https://mlsanity.com/paper/1910.01019/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Oct 2019.

## Built on by (most cited first, 2 of 2)

- [HaltNav: Reactive Visual Halting over Lightweight Topological Priors for Robust Vision-Language Navigation](https://mlsanity.com/paper/2603.12696/) (2026)
- [Prior-SG: Task and Prior Driven Region Segmentation for Scene Graphs in Arbitrarily-Structured Environments](https://mlsanity.com/paper/2608.06170/) (2026)

## Abstract (arXiv)

Representing a scanned map of the real environment as a topological structure is an important research topic in robotics. Since topological representations of maps save a huge amount of map storage space and online computing time, they are widely used in fields such as path planning, map matching, and semantic mapping. We use a topological map representation, the Area Graph, in which the vertices represent areas and edges represent passages. The Area Graph is developed from a pruned Voronoi Graph, the Topology Graph. We also employ a simple room detection algorithm to compensate the fact that the Voronoi Graph gets unstable in open areas. We claim that our area segmentation method is superior to state-of-the-art approaches in complex indoor environments and support this claim with a number of experiments.