A method to LRF noise filtering for the transparent obstacle in mobile robot indoor navigation environment with straight glass wall

Jungsoo Park, Jin Woo Jung

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

Laser Range finder (LRF) is one of the promising sensors for mobile robot indoor navigation since it can give plentiful information by high accuracy, high resolution and high speed. But, many indoor environments have various kinds of transparent obstacles such as glass and they may lead to many noises when LRF is applied. Sometimes, these noises result in wrong positioning of obstacles and thereafter wrong action of the robot. Therefore, many other applications use not only LRF but also additional sonar-like sensors to cope with this problem. And, the use of these additional sensors makes the whole system to be more complex and more expensive. In this paper, a method to LRF noise filtering for transparent obstacle is addressed from the insight that human sensing mechanism uses the fusion of more data with different view directions or different measurement locations. And, the effectiveness of the proposed algorithm is evaluated by the real robot experiment.

Original languageEnglish
Title of host publication2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages194-197
Number of pages4
ISBN (Electronic)9781509008216
DOIs
StatePublished - 21 Oct 2016
Event13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 - Xian, China
Duration: 19 Aug 201622 Aug 2016

Publication series

Name2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016

Conference

Conference13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
Country/TerritoryChina
CityXian
Period19/08/1622/08/16

Keywords

  • Laser range finder
  • Mobile robot
  • Noise filtering
  • Transparent obstacle

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