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	Real Time Probabilistic Mapping for Sonar Sensor by Optimization
	Yuxuan Liu; Lujia Wang; Ming Liu
	2018
会议日期	2018
会议地点	马来西亚
英文摘要	Mapping with sonar sensor is highly interesting yet to be solved, due to the low-cost and high uncertainty of the sensor. A novel method for iterative probabilistic occupancy grid mapping using gradient ascent is introduced. The algorithm is based on the forward sensor model for sonar sensors. The experiments demonstrate that such method is capable of creating satisfying maps for a mobile robot in real time. It is rather robust to sensor noise and model errors and it can overcome the problem of sensor conflicts produced by some existing methods. We propose an efficient way of iterative mapping for mobile robots.
语种	英语
URL标识	查看原文
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/14133]
专题	深圳先进技术研究院_数字所
推荐引用方式 GB/T 7714	Yuxuan Liu,Lujia Wang,Ming Liu. Real Time Probabilistic Mapping for Sonar Sensor by Optimization[C]. 见:. 马来西亚. 2018.

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