NDLI: Building variable resolution occupancy maps assuming unknown but bounded sensor errors

Content Provider	IEEE Xplore Digital Library
Author	Langerwisch, M. Wagner, B.
Copyright Year	2013
Description	Author affiliation: Real Time Syst. Group (RTS), Leibniz Univ. Hannover, Hannover, Germany (Langerwisch, M.; Wagner, B.)
Abstract	A widely used technique for constructing two dimensional maps employing range sensors is occupancy grid mapping assuming normal distributed sensor errors. An alternative to the grid map model with its fixed grid cell size are variable resolution grid maps, e.g. quadtrees. In this paper, the authors propose an approach for building occupancy quadtree maps assuming unknown but bounded sensor errors. Therefore, they examine possible types of sensor uncertainty when using laser rangefinders. They show that the majority of possible types of sensor errors can be covered much better by bounded error models than by probabilistic models. Hence, a novel inverse sensor model has been developed that incorporates measurement and pose uncertainty in a mathematical straightforward way using interval analysis. With this model, an approach for incrementally building occupancy quadtree maps is proposed. A first real world experiment has shown the applicability of the approach. Moreover, the authors compare the map with its probabilistic grid map counterpart. The bounded error quadtree has proved to be conservative but more reliable than the conventional probabilistic grid map.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	4687
Ending Page	4693
File Size	466015
Page Count	7
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6697031
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Measurement by laser beam Laser beams Mathematical model Laser modes Probabilistic logic Surface emitting lasers
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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