PROBABILISTIC MAP BUILDING CONSIDERING SENSOR VISIBILITY

Kazuma Haraguchi, Jun Miura, Nobutaka Shimada, Yoshiaki Shirai

2007

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 Harvard Style

Haraguchi K., Miura J., Shimada N. and Shirai Y. (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

in Bibtex Style

@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},
}


in EndNote Style

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