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 |
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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 |
Bibliographical note
Funding Information:This research was financially supported by the Intelligent Robotics Development Program, one of the 21st Century Frontier R&D Programs funded by the Ministry of Knowledge Economy of the Government of Korea and this study was also supported by the Kyungil University Grant.
Keywords
- Sonars
- feature maps
- home navigation
- simultaneous localization and mapping
- wheeled robots
ASJC Scopus subject areas
- Software
- Human-Computer Interaction
- Control and Systems Engineering
- Hardware and Architecture
- Computer Science Applications