incremental topological modeling using sonar gridmap in home environment

Authors:
Jinwoo Choi;Minyong Choi;Wan Kyun Chung
Affiliations:
Department of Mechanical Engineering, Pohang University of Science and Technology, Pohang, Korea;Department of Mechanical Engineering, Pohang University of Science and Technology, Pohang, Korea;Faculty of Mechanical Engineering, Pohang University of Science and Technology, Pohang, Korea
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

This paper presents a method of topological modeling in home environments using only low-cost sonar sensors. The proposed method constructs a topological model using sonar gridmap by extracting subregions incrementally. A confidence for each occupied grid is evaluated to obtain reliable regions in a local gridmap, and a convexity measure is used to extract subregions automatically. Through these processes, the topological model is constructed without predefining the number of subregions in advance and the extracted subregions are guaranteed the convexity. Experimental results verify the performance of proposed method in real home environment.