EKF-based SLAM Using Sonar Salient Feature and Line Feature for Mobile Robots

이동로봇을 위한 Sonar Salient 형상과 선 형상을 이용한 EKF 기반의 SLAM

  • Heo, Young-Jin (Department of Mechanical Engineering, Seoul National University of Science and Technology) ;
  • Lim, Jong-Hwan (Department of Mechatronics, Cheju National University) ;
  • Lee, Se-Jin (Department of Applied Robotics, Kyungil University)
  • 허영진 (서울과학기술대학교 기계공학과) ;
  • 임종환 (제주대학교 메카트로닉스공학과) ;
  • 이세진 (경일대학교 로봇응용학과)
  • Received : 2011.05.25
  • Accepted : 2011.07.04
  • Published : 2011.10.01


Not all line or point features capable of being extracted by sonar sensors from cluttered home environments are useful for simultaneous localization and mapping (SLAM) due to their ambiguity because it is difficult to determine the correspondence of line or point features with previously registered feature. Confused line and point features in cluttered environments leads to poor SLAM performance. We introduce a sonar feature structure suitable for a cluttered environment and the extended Kalman filter (EKF)-based SLAM scheme. The reliable line feature is expressed by its end points and engaged togather in EKF SLAM to overcome the geometric limits and maintain the map consistency. Experimental results demonstrate the validity and robustness of the proposed method.


Supported by : Korea Research Foundation


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