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Pregled bibliografske jedinice broj: 120261

Improvements of Occupancy Grid Maps by Sonar Data Corrections


Ivanjko, Edouard; Petrović, Ivan; Maček, Kristijan
Improvements of Occupancy Grid Maps by Sonar Data Corrections // CD-ROM Proceedings of FIRA Robot World Congress 2003
Beč, Austrija, 2003. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Improvements of Occupancy Grid Maps by Sonar Data Corrections

Autori
Ivanjko, Edouard ; Petrović, Ivan ; Maček, Kristijan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
CD-ROM Proceedings of FIRA Robot World Congress 2003 / - , 2003

Skup
FIRA Robot World Congress 2003

Mjesto i datum
Beč, Austrija, 01-03.10.2003

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Mobile Robot; Kalman Filter; Occupancy grid maps; Sonar correction

Sažetak
In this paper we address one of the major problems of mobile robots navigation, the creation of a map from local sensor data collected as the robot moves around an unknown environment. Map building is the problem of generating models of robot environments from sensor data and can be often referred as a concurrent mapping and localization problem. That is to build a consistent map, the mobile robot has to know its pose. We present here three approaches to create occupancy grid maps from sonar's data and suggest a simple solution to improve the mapping quality in cases of irregular disposition of the sonars. The proposed solution has been tested on the mobile robot Pioneer 2DX.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika



POVEZANOST RADA


Projekt / tema
0036018

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Ivan Petrović (autor)

Avatar Url Kristijan Maček (autor)

Avatar Url Edouard Ivanjko (autor)

Citiraj ovu publikaciju

Ivanjko, Edouard; Petrović, Ivan; Maček, Kristijan
Improvements of Occupancy Grid Maps by Sonar Data Corrections // CD-ROM Proceedings of FIRA Robot World Congress 2003
Beč, Austrija, 2003. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
Ivanjko, E., Petrović, I. & Maček, K. (2003) Improvements of Occupancy Grid Maps by Sonar Data Corrections. U: CD-ROM Proceedings of FIRA Robot World Congress 2003.
@article{article, year = {2003}, keywords = {Mobile Robot, Kalman Filter, Occupancy grid maps, Sonar correction}, title = {Improvements of Occupancy Grid Maps by Sonar Data Corrections}, keyword = {Mobile Robot, Kalman Filter, Occupancy grid maps, Sonar correction}, publisherplace = {Be\v{c}, Austrija} }