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http://dx.doi.org/10.7746/jkros.2011.6.2.189

Topological Modeling using Sonar Grid Map  

Choi, Jin-Woo (포항공과대학교 기계공학과)
Choi, Min-Yong (포항공과대학교 기계공학과)
Chung, Wan-Kyun (포항공과대학교 기계공학과)
Publication Information
The Journal of Korea Robotics Society / v.6, no.2, 2011 , pp. 189-196 More about this Journal
Abstract
This paper presents a method of topological modeling using only low-cost sonar sensors. The proposed method constructs a topological model by extracting sub-regions from the local grid map. The extracted sub-regions are considered as nodes in the topological model, and the corresponding edges are generated according to the connectivity between two sub-regions. A grid confidence for each occupied grid is evaluated to obtain reliable regions in the local grid map by filtering out noisy data. Moreover, a convexity measure is used to extract sub-regions automatically. Through these processes, the topological model is constructed without predefining the number of sub-regions in advance and the proposed method guarantees the convexity of extracted sub-regions. Unlike previous topological modeling methods which are appropriate to the corridor-like environment, the proposed method can give a reliable topological modeling in a home environment even under the noisy sonar data. The performance of the proposed method is verified by experimental results in a real home environment.
Keywords
Topological Modeling; Sonar Sensors; Grid map;
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Times Cited By KSCI : 2  (Citation Analysis)
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