Sonar features extraction for a mobile robot

  • Authors:

  • Zheng Weiqin

  • Affiliations:

  • College of Mechatronics and Control Engineering, Shenzhen University, China

  • Venue:
  • IITA'09 Proceedings of the 3rd international conference on Intelligent information technology application
  • Year:
  • 2009

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Abstract

Sonar sensor is an attractive range sensor for mobile robots, but the lack of good spatial resolution results it difficult to apply in localization and mapping. To overcome the bad angular resolution and the frequent number of outliers in sonar data, different sonar data fusion techniques are used. In this paper a method to extract point and line features from sonar data returns is presented. The method is based on the TBF algorithm, but line feature extraction is added. To demonstrate the effectivity of the method, an experiment is carried out along a corridor and results are given.