Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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A Complete Feature Map Building Method of Sonar Sensors for Mobile Robots

이동 로봇을 위한 초음파 센서의 완성도 높은 형상지도 작성법

  • 이세진 (포항공과대학교 기계공학과) ;
  • 임종환 (제주대학교 메카트로닉스공학과) ;
  • 조동우 (포항공과대학교 기계공학과)
  • Published : 2010.01.01
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Abstract

This study introduces a complete feature map building method of sonar sensors for mobile robots. This method enhances the reality of feature maps by extracting even circle features as well as line and point features from sonar data. Edge features are, moreover, generated by combining line features close to circle features extracted around comer sites. The uncertainties of the specular reflection phenomenon and wide beam width of sonar data can be, therefore, reduced through this map building method. The experimental results demonstrate a practical validity of the proposed method in those environments.

Keywords

References

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