A new method for solving the specular reflection problem of sonar systems has been developed and implemented. This method, the specular reflection probability method, permits the robot to construct a high quality probability map of an environment composed of specular surfaces. The method employs two parameters, the range confidence factor (RCF) and orientation probability. The RCF is the measure of confidence in the returning range from a sensor under reflective environment, and the factor will have low value for long range information and vice versa. Orientation probability represents the surface orientation of an object. Bayesian reasoning is used to update the orientation probability from the range readings of the sensor. The usefulness of this approach is illustrated with the results produced by our mobile robot equipped with ultrasonic sensors.
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September 1994
Research Papers
Specular Reflection Probability in the Certainty Grid Representation
Jong Hwan Lim,
Jong Hwan Lim
Department of Mechanical Engineering, Cheju National University, 1 Ara 1-dong, Cheju, 690-756, Korea
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Dong Woo Cho
Dong Woo Cho
Department of Mechanical Engineering, Pohang University of Science and Technology, San 31 Hyoja-dong, Pohang 790-784, Korea
Search for other works by this author on:
Jong Hwan Lim
Department of Mechanical Engineering, Cheju National University, 1 Ara 1-dong, Cheju, 690-756, Korea
Dong Woo Cho
Department of Mechanical Engineering, Pohang University of Science and Technology, San 31 Hyoja-dong, Pohang 790-784, Korea
J. Dyn. Sys., Meas., Control. Sep 1994, 116(3): 512-520 (9 pages)
Published Online: September 1, 1994
Article history
Received:
July 22, 1993
Online:
March 17, 2008
Citation
Lim, J. H., and Cho, D. W. (September 1, 1994). "Specular Reflection Probability in the Certainty Grid Representation." ASME. J. Dyn. Sys., Meas., Control. September 1994; 116(3): 512–520. https://doi.org/10.1115/1.2899246
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