Fig. 1
![Fig. 1](http://media.springernature.com/full/springer-static/image/art%3A10.1186%2Fs40648-020-00163-4/MediaObjects/40648_2020_163_Fig1_HTML.jpg)
Example of an indoor scene. The guide map is marked with a green circle on the upper right of the image. The guide map is beneficial for operators to decide directions for robots to reach their destination
Example of an indoor scene. The guide map is marked with a green circle on the upper right of the image. The guide map is beneficial for operators to decide directions for robots to reach their destination