Feature-based map building using sparse sonar data in a home-like environment
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- Title
- Feature-based map building using sparse sonar data in a home-like environment
- Authors
- Lee, SJ; Lim, JH; Cho, DW
- Date Issued
- 2007-01
- Publisher
- KOREAN SOC MECHANICAL ENGINEERS
- Abstract
- This study developed and implemented a new feature-based map-building model that uses only sparsely sampled sonar data from a fixed ring with 16 sonar sensors. It introduces two kinds of data filter approaches to overcome challenges associated with sonar sensors, such as a wide beam aperture and the specular reflection effect. The first approach is a footprint-association (FPA) model, which associates two sonar footprints into a hypothesized circle frame in order to determine the feature type, such as a line, a point, or an arc. The FPA model provides information about the trace of centers of hypothesized circles. It extracts features from a cluster composed of more than two independent footprints that originate from the same object. The other approach is a feature-association (FTA) model, which associates a new sonar footprint into extracted features to update the feature. Both proposed methods were tested in a home-like environment using a mobile robot.
- Keywords
- data filter model; feature association; feature-based map building; sparse sonar data; CERTAINTY GRID REPRESENTATION
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/23622
- DOI
- 10.1007/BF03161713
- ISSN
- 1738-494X
- Article Type
- Article
- Citation
- JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, vol. 21, no. 1, page. 74 - 82, 2007-01
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