Grid map building based on reliability model of sonar data
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Han, H.-M. | - |
dc.contributor.author | Park, J.-T. | - |
dc.contributor.author | Song, J.-B. | - |
dc.date.accessioned | 2021-09-07T20:17:33Z | - |
dc.date.available | 2021-09-07T20:17:33Z | - |
dc.date.created | 2021-06-17 | - |
dc.date.issued | 2011 | - |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/114591 | - |
dc.description.abstract | This paper proposes a novel approach to building an occupancy grid map using sonar data. It is very important for a mobile robot to recognize and construct its surrounding environments for navigation. However, the grid map constructed by ultrasonic sensors cannot represent a realistic shape of given environments due to incorrect sonar measurements caused by specular reflection. To overcome this problem, we propose an advanced sonar sensor model which consists of distance and shape factors used to determine the reliability of sensor data. Through this sensor model, a robot can build a high-quality grid map. The proposed method was verified by various experiments and showed that the robot could build an accurate map with sonar data in various indoor environments. © ICROS 2011. | - |
dc.language | Korean | - |
dc.language.iso | ko | - |
dc.subject | Data association | - |
dc.subject | Grid map | - |
dc.subject | High quality | - |
dc.subject | Indoor environment | - |
dc.subject | Occupancy grid map | - |
dc.subject | Reliability model | - |
dc.subject | Sensor data | - |
dc.subject | Sensor model | - |
dc.subject | Shape factor | - |
dc.subject | Sonar data | - |
dc.subject | Sonar measurements | - |
dc.subject | Sonar sensor | - |
dc.subject | Specular reflections | - |
dc.subject | Surrounding environment | - |
dc.subject | Communication channels (information theory) | - |
dc.subject | Mobile robots | - |
dc.subject | Sensors | - |
dc.subject | Sensory perception | - |
dc.subject | Ultrasonic sensors | - |
dc.subject | Sonar | - |
dc.title | Grid map building based on reliability model of sonar data | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Song, J.-B. | - |
dc.identifier.doi | 10.5302/J.ICROS.2011.17.12.1219 | - |
dc.identifier.scopusid | 2-s2.0-84860259551 | - |
dc.identifier.bibliographicCitation | Journal of Institute of Control, Robotics and Systems, v.17, no.12, pp.1219 - 1226 | - |
dc.relation.isPartOf | Journal of Institute of Control, Robotics and Systems | - |
dc.citation.title | Journal of Institute of Control, Robotics and Systems | - |
dc.citation.volume | 17 | - |
dc.citation.number | 12 | - |
dc.citation.startPage | 1219 | - |
dc.citation.endPage | 1226 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART001605554 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordPlus | Data association | - |
dc.subject.keywordPlus | Grid map | - |
dc.subject.keywordPlus | High quality | - |
dc.subject.keywordPlus | Indoor environment | - |
dc.subject.keywordPlus | Occupancy grid map | - |
dc.subject.keywordPlus | Reliability model | - |
dc.subject.keywordPlus | Sensor data | - |
dc.subject.keywordPlus | Sensor model | - |
dc.subject.keywordPlus | Shape factor | - |
dc.subject.keywordPlus | Sonar data | - |
dc.subject.keywordPlus | Sonar measurements | - |
dc.subject.keywordPlus | Sonar sensor | - |
dc.subject.keywordPlus | Specular reflections | - |
dc.subject.keywordPlus | Surrounding environment | - |
dc.subject.keywordPlus | Communication channels (information theory) | - |
dc.subject.keywordPlus | Mobile robots | - |
dc.subject.keywordPlus | Sensors | - |
dc.subject.keywordPlus | Sensory perception | - |
dc.subject.keywordPlus | Ultrasonic sensors | - |
dc.subject.keywordPlus | Sonar | - |
dc.subject.keywordAuthor | Data association | - |
dc.subject.keywordAuthor | Grid map building | - |
dc.subject.keywordAuthor | Specular reflection | - |
dc.subject.keywordAuthor | Ultrasonic sensor | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(02841) 서울특별시 성북구 안암로 14502-3290-1114
COPYRIGHT © 2021 Korea University. All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.