High Resolution Maps from Wide Angle Sonar

Hans Moravec and A. E. Elfes
Proceedings of the 1985 IEEE International Conference on Robotics and Automation, March, 1985, pp. 116 - 121.


Download
  • Adobe portable document format (pdf) (1MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
We describe the use of multiple wide-angle sonar range measurements to map the surroundings of an autonomous mobile robot. A sonar range reading provides information concerning empty and occupied volumes in a cone (subtending 30 degrees in our case) in front of the sensor. The reading is modelled as probability profiles projected onto a rasterized map, where somewhere occupied and everywhere empty areas are represented. Range measurements from multiple points of view (taken from multiple sensors on the robot, and from the same sensors after robot moves) are systematically integrated in the map. Overlapping empty volumes re-inforce each other, and serve to condense the range of occupied volumes. The map definition improves as more readings are added. The final map shows regions probably occupied, probably unoccupied, and unknown areas. The method deals effectively with clutter, and can be used for motion planning and for extended landmark recognition. This system has been tested on the Neptune mobile robot at CMU.

Notes
Associated Lab(s) / Group(s): Mobile Robot Lab
Number of pages: 6

Text Reference
Hans Moravec and A. E. Elfes, "High Resolution Maps from Wide Angle Sonar," Proceedings of the 1985 IEEE International Conference on Robotics and Automation, March, 1985, pp. 116 - 121.

BibTeX Reference
@inproceedings{Moravec_1985_1840,
   author = "Hans Moravec and A. E. Elfes",
   title = "High Resolution Maps from Wide Angle Sonar",
   booktitle = "Proceedings of the 1985 IEEE International Conference on Robotics and Automation",
   pages = "116 - 121",
   month = "March",
   year = "1985",
}