Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Development of Robust Feature Detector Using Sonar Data

초음파 데이터를 이용한 강인한 형상 검출기 개발

  • 이세진 (포항공과대학교 기계공학과) ;
  • 임종환 (제주대학교 메카트로닉스공학과) ;
  • 조동우 (포항공과대학교 기계공학과)
  • Published : 2008.02.01
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Abstract

This study introduces a robust feature detector for sonar data from a general fixed-type of sonar ring. The detector is composed of a data association filter and a feature extractor. The data association filter removes false returns provided frequently from sonar sensors, and classifies set of data from various objects and robot positions into a group in which all the data are from the same object. The feature extractor calculates the geometries of the feature for the group. We show the possibility of extracting circle feature as well as a line and a point features. The proposed method was applied to a real home environment with a real robot.

Keywords

References

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