Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2012.18.10.970

Impulse Noise Removal of LRF for 3D Map Building Using a Hybrid Median Filter  

Hwang, Yo-Seop (Pusan National University)
Kim, Hyun-Woo (Pusan National University)
Kim, Tae-Jun (Pusan National University)
Lee, Jang-Myung (Pusan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.10, 2012 , pp. 970-976 More about this Journal
Abstract
In this paper, a single LRF has been used to produce a 3D map for the mobile robot navigation. The 2D laser scanners are used for mobile robots navigation, where the laser scanner is applied to detect a certain level of area by the straight beam. Therefore it is limited to the usages of 2D obstacle detection and avoidance. In this research, it is designed to complement a mobile robot system to move up and down a single LRF along the yaw axis. During the up and down motion, the 2D data are stacked and manipulated to build a 3D map. Often a single LRF data are mixed with Gaussian and impulse noises. The impulse noises are removed out by the hybrid median filter designed in this research. The 2D data which are improved by deleting the impulse noises are layered to build the 3D map. Removing impulse noises while preserving the boundary is a main advantages of the hybrid median filter which has been used widely to improve the quality of images. The effectiveness of this hybrid median filter for rejecting the impulse noises has been verified through the real experiments. The performance of the hybrid median filter is evaluated in terms of PSNR (Peak Signal to Noise Ratio) and the processing time.
Keywords
3D map; mobile robot; LRF; hybrid median filter; PSNR; MSE;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
Times Cited By SCOPUS : 0
연도 인용수 순위
1 O. Wulf and B. Wagner, "Fast 3D sanning methods for laser measurement systems," Institute for Systems Engineering, 2003.
2 R. Vanithamani, G. Umamaheswari, and M. Ezhilarasi "Modified hybrid median filter for effective speckle reduction in ultrasound images," Recent Advances in Networking, VLSI and Signal Processing, ISSN:1790-5117, pp. 166-171.
3 J. Najeer Ahmed and V. Rajamani, "Design of hybrid filter for denosing images using fuzzy network and edge detecting," American Journal of Scientific Research, ISSN:1450-223X, no. 3, pp. 5-14, 2009.
4 W.-J. Chung, D.-H. Lee, and C.-H. Choi, "Application of the laser distance sensor and mobile robot control," ICASE Magazine, vol. 8, no. 5, pp. 17-22, Sep. 2002.
5 H. Surmann, A. Nuchter, and J. Hertzberg, "An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environments," Robotics and Autonomous Systems, vol. 45, pp. 181-198, Apr. 2003.   DOI
6 kaojinz.com.ne.kr/HOME/Document/ImageProcessing/image _processing/fiter.htm.74.html
7 J. T. Park and J. B. Song, "Sensor fusion-based semantic map building," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 3, pp.277-282, Mar. 2011.   과학기술학회마을   DOI
8 H. M. Han, J. T. Park, and J. B. Song, "Grid map building based on reliability model of sonar data," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 12, pp. 1219-1226, Dec. 2011.   과학기술학회마을   DOI
9 G. H. Yuk and H. S. Yang, "Building a grid-type obstacle shape map using LRF," Korean Society for Precision Engineering, KSPE 08S330 (in Korean), pp. 473-474, Jun. 2008.
10 C. Ye and J. Borenstein, "A new terrain mapping method for mobile robots obstacle negotiation," Proceedings of UGV Techonology Conference, SPIE AeroSense Symposium, pp. 52-62, 2003.
11 S. J. Kim, K. H. An, C. H. Sung, and M. J. Chung, "Refinements of multi-sensor based 3D reconstructionusing a multi-sensor fusion disparity map," The Journal of Korea Robotics Society (in Korean), vol. 4, no. 4, pp. 298-304, Dec. 2009.
12 T.-B. Kwon, J.-B. Song, and S.-C. Kang, "Extraction and matching of elevation moment of inertia for elevation map-based localization of an outdoor mobile robot," Jounal of Institute of Control, Robotics and Systems (in Korean), vol. 15, no. 2, pp. 203-210, Feb. 2009.   DOI
13 T. Fujita and Y. Kondo, "3D terrain measurement system with movable laser range finder," 2009 IEEE International workshop on (SSRR), pp. 1-6, no. 2, Nov. 2009.
14 H. Surmann, K. Lingemann, A. Nuchter, and J. Hertzberg, "A 3D laser range for autonomous mobile robots," Proc. of the 32nd ISR, pp. 153-158, 19-21, Apr. 2001.
15 T. Kot, V. Mostyn, and P. Novak, "Application of a 3d representation of 2D laser scanner data in operator controlled mobile robots," Transactions of the VSB, vol. LV, no. 1, pp. 145-152, Apr. 2009.
16 H.-W. Kim, Y.-S. Hwang, and J.-M. Lee, "Angle sensing based on Kalman filter for 3D map building," The 6th Korea Robotics Society Annual Conference (in Korean), pp. 29-32, KSPE 08S330.
17 K. Ohno and S. Tadokoro, "Dense 3D map building based on LRF data and color image fusion," IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2792-2797, 2005.
18 D. Oritin, J. Neira, and J. M. M. Montiel, "Relocation using laser and vision," IEEE International Conference on Robotis and Automation, vol. 2, pp. 1505-1510, 2004.