논문 상세보기
pp.189-196
This paper presents a method of topological modeling using only low-cost sonar sensors. The proposed method constructs a topological model by extracting sub-regions from the local grid map. The extracted sub-regions are considered as nodes in the topological model, and the corresponding edges are generated according to the connectivity between two sub-regions. A grid confidence for each occupied grid is evaluated to obtain reliable regions in the local grid map by filtering out noisy data. Moreover, a convexity measure is used to extract sub-regions automatically. Through these processes, the topological model is constructed without predefining the number of sub-regions in advance and the proposed method guarantees the convexity of extracted sub-regions. Unlike previous topological modeling methods which are appropriate to the corridor-like environment, the proposed method can give a reliable topological modeling in a home environment even under the noisy sonar data. The performance of the proposed method is verified by experimental results in a real home environment.
