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This is short overview of research paper.
We present a practical algorithm for the automatic generation of a map that describes the operation environment of an indoor mobile service robot. The input is a CAD description of a building consisting of line segments that represent the walls. The algorithm is based on the exact cell decomposition obtained when these segments are extended to infinite lines, resulting in a line arrangement. The cells are represented by nodes in a connectivity graph. The map consists of the connectivity graph and additional environmental information that is calculated for each cell. The method takes into account both the path planning and position verification requirements of the robot and has been implemented.