TY - GEN
T1 - A new sonar salient feature structure for EKF-based SLAM
AU - Lee, Se Jin
AU - Song, Jae Bok
PY - 2010
Y1 - 2010
N2 - Not all line or point features capable of being extracted by sonar sensors from cluttered home environments are useful for simultaneous localization and mapping (SLAM) due to their ambiguity. We present a new 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. The centroid of each circle cloud, called a sonar salient feature, is used as a natural landmark for EKF-based SLAM. After completing initial exploration in an unknown environment, SLAM-able areas with sonar salient features can be defined, and cylindrical objects are placed conveniently at weak SLAM-able areas as a supplemental environmental saliency to enhance 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 cluttered home environments are useful for simultaneous localization and mapping (SLAM) due to their ambiguity. We present a new 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. The centroid of each circle cloud, called a sonar salient feature, is used as a natural landmark for EKF-based SLAM. After completing initial exploration in an unknown environment, SLAM-able areas with sonar salient features can be defined, and cylindrical objects are placed conveniently at weak SLAM-able areas as a supplemental environmental saliency to enhance SLAM performance. Experimental results demonstrate the validity and robustness of the proposed sonar salient feature structure for EKF-based SLAM.
UR - http://www.scopus.com/inward/record.url?scp=78651503282&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5650169
DO - 10.1109/IROS.2010.5650169
M3 - Conference contribution
AN - SCOPUS:78651503282
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 5966
EP - 5971
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -