Abstract
Not all line or point features capable of being extracted by sonar sensors from a cluttered home environment are useful for simultaneous localization and mapping (SLAM) of a mobile robot. This is due to unfavorable conditions such as environmental ambiguity and sonar measurement uncertainty. We present a novel sonar feature structure suitable for a cluttered environment and the extended Kalman filter (EKF)-based SLAM scheme. The key concept is to extract circle feature clouds on salient convex objects by sonar data association called convex saliency circling. The centroid of each circle cloud, called a sonar salient feature, is used as a natural landmark for EKF-based SLAM. By investigating the environmental inherent feature locality, cylindrical objects are augmented conveniently at the weak SLAM-able area as a natural supplementary saliency to achieve consistent SLAM performance. Experimental results demonstrate the validity and robustness of the proposed sonar salient feature structure for EKF-based SLAM.
| Original language | English |
|---|---|
| Pages (from-to) | 1055-1074 |
| Number of pages | 20 |
| Journal | Advanced Robotics |
| Volume | 26 |
| Issue number | 8-9 |
| DOIs | |
| Publication status | Published - 2012 May 1 |
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Keywords
- feature maps
- home navigation
- simultaneous localization and mapping
- Sonars
- wheeled robots
ASJC Scopus subject areas
- Control and Systems Engineering
- Human-Computer Interaction
- Computer Science Applications
- Hardware and Architecture
- Software
Cite this
Novel sonar salient feature structure for extended kalman filter-based simultaneous localization and mapping of mobile robots. / Lee, Se Jin; Cho, Dong Woo; Song, Jae-Bok.
In: Advanced Robotics, Vol. 26, No. 8-9, 01.05.2012, p. 1055-1074.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Novel sonar salient feature structure for extended kalman filter-based simultaneous localization and mapping of mobile robots
AU - Lee, Se Jin
AU - Cho, Dong Woo
AU - Song, Jae-Bok
PY - 2012/5/1
Y1 - 2012/5/1
N2 - Not all line or point features capable of being extracted by sonar sensors from a cluttered home environment are useful for simultaneous localization and mapping (SLAM) of a mobile robot. This is due to unfavorable conditions such as environmental ambiguity and sonar measurement uncertainty. We present a novel sonar feature structure suitable for a cluttered environment and the extended Kalman filter (EKF)-based SLAM scheme. The key concept is to extract circle feature clouds on salient convex objects by sonar data association called convex saliency circling. The centroid of each circle cloud, called a sonar salient feature, is used as a natural landmark for EKF-based SLAM. By investigating the environmental inherent feature locality, cylindrical objects are augmented conveniently at the weak SLAM-able area as a natural supplementary saliency to achieve consistent SLAM performance. Experimental results demonstrate the validity and robustness of the proposed sonar salient feature structure for EKF-based SLAM.
AB - Not all line or point features capable of being extracted by sonar sensors from a cluttered home environment are useful for simultaneous localization and mapping (SLAM) of a mobile robot. This is due to unfavorable conditions such as environmental ambiguity and sonar measurement uncertainty. We present a novel sonar feature structure suitable for a cluttered environment and the extended Kalman filter (EKF)-based SLAM scheme. The key concept is to extract circle feature clouds on salient convex objects by sonar data association called convex saliency circling. The centroid of each circle cloud, called a sonar salient feature, is used as a natural landmark for EKF-based SLAM. By investigating the environmental inherent feature locality, cylindrical objects are augmented conveniently at the weak SLAM-able area as a natural supplementary saliency to achieve consistent SLAM performance. Experimental results demonstrate the validity and robustness of the proposed sonar salient feature structure for EKF-based SLAM.
KW - feature maps
KW - home navigation
KW - simultaneous localization and mapping
KW - Sonars
KW - wheeled robots
UR - http://www.scopus.com/inward/record.url?scp=84865693453&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84865693453&partnerID=8YFLogxK
U2 - 10.1163/156855312X633093
DO - 10.1163/156855312X633093
M3 - Article
AN - SCOPUS:84865693453
VL - 26
SP - 1055
EP - 1074
JO - Advanced Robotics
JF - Advanced Robotics
SN - 0169-1864
IS - 8-9
ER -