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Development of Robust Feature Detector Using Sonar Data  

Lee, Se-Jin (포항공과대학교 기계공학과)
Lim, Jong-Hwan (제주대학교 메카트로닉스공학과)
Cho, Dong-Woo (포항공과대학교 기계공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.25, no.2, 2008 , pp. 35-42 More about this Journal
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
Mobile Robot; Sonar Sensor; Feature Extraction; Data Filtering;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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