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Authors: Kazuma Haraguchi 1 ; Jun Miura 1 ; Nobutaka Shimada 2 and Yoshiaki Shirai 2

Affiliations: 1 Graduate School of Engineering, Osaka University, Japan ; 2 Faculty of Science Engineering, Ritsumeikan University, Japan

ISBN: 978-972-8865-83-2

Keyword(s): Obstacle Map Generation, Bayes Theorem, Occlusion, Spatial Dependency, Visibility.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: This paper describes a method of probabilistic obstacle map building based on Bayesian estimation. Most active or passive obstacle sensors observe only the most frontal objects and any objects behind them are occluded. Since the observation of distant places includes large depth errors, conventional methods which does not consider the sensor occlusion often generate erroneous maps. We introduce a probabilistic observation model which determines the visible objects. We first estimate probabilistic visibility from the current view-point by a Markov chain model based on the knowledge of the average sizes of obstacles and free areas. Then the likelihood of the observations based on the probabilistic visibility are estimated and then the posterior probability of each map grid are updated by Bayesian update rule. Experimental results show that more precise map building can be bult by this method.

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Paper citation in several formats:
Haraguchi K.; Miura J.; Shimada N.; Shirai Y. and (2007). PROBABILISTIC MAP BUILDING CONSIDERING SENSOR VISIBILITY.In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 200-206. DOI: 10.5220/0001623502000206

@conference{icinco07,
author={Kazuma Haraguchi and Jun Miura and Nobutaka Shimada and Yoshiaki Shirai},
title={PROBABILISTIC MAP BUILDING CONSIDERING SENSOR VISIBILITY},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={200-206},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001623502000206},
isbn={978-972-8865-83-2},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - PROBABILISTIC MAP BUILDING CONSIDERING SENSOR VISIBILITY
SN - 978-972-8865-83-2
AU - Haraguchi, K.
AU - Miura, J.
AU - Shimada, N.
AU - Shirai, Y.
PY - 2007
SP - 200
EP - 206
DO - 10.5220/0001623502000206

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