Evaluation of features through grid association for building a sonar map

Se Jin Lee, Dong Woo Cho, Wan Kyun Chung, Yucheol Lee, Jong Hwan Lim, Chul Ung Kang, Won Soo Yun

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

12 Scopus citations

Abstract

This paper addresses a new feature map building method that can minimizes the appearance of phantom features by using only sparse sonar data. The approach is composed of extraction of features and building a probability grid map using only the footprint of sparse sonar data, estimation of position uncertainty of the feature, and evaluation of the reliable features. A virtual circle association frame model has been developed, which associates two sonar footprints into a virtual circle frame. Using this model, the geometric primitives such as lines, points, and arc features are separately extracted. While extracting the features, a grid map is also built using the orientation probability approach. The position uncertainty of each extracted feature is, then, estimated by considering both the position uncertainty of the robot and the measurement uncertainty of the sonar sensor. Finally, the reliable features among all extracted ones are evaluated from grid association method. The proposed methods have been tested in a real home environment with a mobile robot.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages2615-2620
Number of pages6
DOIs
StatePublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 15 May 200619 May 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Conference

Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/TerritoryUnited States
CityOrlando, FL
Period15/05/0619/05/06

Keywords

  • Feature mapping
  • Feature position uncertainty
  • Grid map
  • Orientation probability
  • Sparse sonar data

Fingerprint

Dive into the research topics of 'Evaluation of features through grid association for building a sonar map'. Together they form a unique fingerprint.

Cite this