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map construction

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1 results

Multipath Bayesian Map Construction Model from Sonar Data
Jong Hwan Lim, Dong Woo Chof†
Journal:

Robotica / Volume 14 / Issue 5 / September 1996

Published online by Cambridge University Press:

09 March 2009, pp. 527-540
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A new model for the construction of a sonar map in a specular environment has been developed and implemented. In a real world, where most of the object surfaces are specular ones, a sonar sensor surfers from a multipath effect which results in a wrong interpretation of an object's location. To reduce this effect and hence to construct a reliable map of a robot's surroundings, a probabilistic approach based on Bayesian reasoning is adopted to both evaluation of object orientations and estimation of an occupancy probability of a cell by an object. The usefulness of this approach is illustrated with the results produced by our mobile robot equipped with ultrasonic sensors.