Novel sonar salient feature structure for extended kalman filter-based simultaneous localization and mapping of mobile robots

Se Jin Lee, Dong Woo Cho, Jae Bok Song

Research output: Contribution to journalArticle

9 Citations (Scopus)

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 languageEnglish
Pages (from-to)1055-1074
Number of pages20
JournalAdvanced Robotics
Volume26
Issue number8-9
DOIs
Publication statusPublished - 2012 May 1

Keywords

  • Sonars
  • feature maps
  • home navigation
  • simultaneous localization and mapping
  • wheeled robots

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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