This standard provides map data representation to encode the surrounding environments for mobile robots in a format suitable for exchange between components and systems. Map data representation in this standard describes two-dimensional (2D) representation of an environment in the form of a metric map, a topological map, and/or a combination of both. This standard also describes a methodology, including software Application Programming Interfaces (APIs), for exchanging map data among robots, computers, and other compatible devices along with glossaries specific to mobile robot navigation. This standard is neither limited by geographic scale nor sensor modalities. The map representation format provided by the standard shall only consider static maps.
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