Enhanced maximum likelihood grid map with reprocessing incorrect sonar measurements
Author
Lee, Kyoungmin
Lee, Se-Jin
Kölsch, Mathias
Chung, Wan Kyun
Date
2013-06-18Metadata
Show full item recordAbstract
In this paper, we address the problem of building
a grid map as accurately as possible using inexpensive and
error-prone sonar sensors. In this research area, incorrect
sonar measurements, which fail to detect the nearest obstacle in their beamwidth, generally have been dealt with in the
same manner as correct measurements or have been excluded
from the mapping. In the former case, the map quality may
be severely degraded. In the latter case, the resulting map
may have insufficient information after the incorrect measurements are removed because only correct measurements
are frequently insufficient to cover the whole environment.
We propose an efficient grid-mapping approach that incorporates incorrect measurements in a specialized manner to build
a better map; we call this the enhanced maximum likelihood
(eML) approach. The eML approach fuses the correct and
incorrect measurements into a map based on sub-maps generated from each set of measurements. We also propose the
maximal sound pressure (mSP) method to detect incorrect sonar readings using the sound pressure of the waves from
sonar sensors. In several indoor experiments, integrating the
eML approach with the mSP method achieved the best results
in terms of map quality among various mapping approaches.
We call this the maximum likelihood based on sub-maps
(MLS) approach. The MLS map created using only two sonar
sensors exhibited similar accuracy to the reference map,
which was an accurate representation of the environment.
Description
The article of record as published may be found at http://dx.doi.org/10.1007/s10514-013-9340-5
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.Collections
Related items
Showing items related by title, author, creator and subject.
-
The Correct Use of Subject Matter Experts in Cost Risk Analysis
Braxton, Peter J.; Druker, Eric R.; Coleman, Richard L. (Monterey, California. Naval Postgraduate School, 2010-04-30); NPS-AM-10-031Subject Matter Experts (SMEs) are commonly used in cost risk analysis (and in other fields as well) for values that either are not available in historical data or for which no appropriate analogy can be found. Problems ... -
An intelligent computer-aided instruction system for Naval ship recognition
Bernier, Denise R. (Monterey, California. Naval Postgraduate School, 1989-06);This thesis discusses the design and implementation of an intelligent computer-aided instruction system for Naval ship recognition. The system uses artificial-intelligence techniques to provide an interactive tutoring ... -
Ethical Control of Unmanned Systems: lifesaving/lethal scenarios for naval operations
Brutzman, Donald P.; Blais, Curtis L.; Wu, Hsin-Fu (Monterey, California. Naval Postgraduate School, 2020-08); NPS-USW-2020-001This research in Ethical Control of Unmanned Systems applies precepts of Network Optional Warfare (NOW) to develop a three-step Mission Execution Ontology (MEO) methodology for validating, simulating, and implementing ...