제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2005년도 ICCAS
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- Pages.724-728
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- 2005
A development of PSD sensor system for navigation and map building in the indoor environment
- Jeong, Tae-Cheol (Department of Electronics Engineering, Honam University) ;
- Lee, Chang-Hwan (Department of Electronics Engineering, Honam University) ;
- Park, Jea-Yong (Department of Electronics Engineering, Honam University) ;
- Hyun, Woong-Keun (Department of Electronics Engineering, Honam University)
- 발행 : 2005.06.02
초록
This paper represents a development of a range finder sensor module for indoor 2-D mapping and modified Hough transformation for map building. A range finder sensor module has been developed by using optic PSD (Position Sensitive Detector) sensor array at a low price. While PSD sensor is cost effective and light weighting, it has switching noise and white noise. To remove these noises, we propose a heuristic filter. For line-based map building, also we proposed advanced Hough transformation and navigation algorithm. Some experiments were illustrated for the validity of the developed system.