Grid map building based on reliability model of sonar data

Hye Min Han, Joong Tae Park, Jae Bok Song

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)1219-1226
Number of pages8
JournalJournal of Institute of Control, Robotics and Systems
Issue number12
Publication statusPublished - 2011 Dec


  • Data association
  • Grid map building
  • Specular reflection
  • Ultrasonic sensor

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Applied Mathematics


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