Algorithm 1 Labeling room areas and corridors areas with “winner-take-all” principle

Input: Pre-processed map(PPM), Pre-segmented map(PSM), classification results of sampling points; Output: The map with room labels and corridors labels;  1: The classification results of sampling points in each area were counted. m is the number of sampling points identified as rooms in each area, and n is the number of sampling points identified as corridors;  2: for each area of the binarized map do  3:   if m >= n then  4:     Classify this area as room;  5:   else  6:     Classify this area as corridors;  7:   end if  8: end for