DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, SJ | - |
dc.contributor.author | Lim, JH | - |
dc.contributor.author | Cho, DW | - |
dc.date.accessioned | 2016-04-01T01:45:05Z | - |
dc.date.available | 2016-04-01T01:45:05Z | - |
dc.date.created | 2009-08-21 | - |
dc.date.issued | 2007-01 | - |
dc.identifier.issn | 1738-494X | - |
dc.identifier.other | 2007-OAK-0000006514 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/23622 | - |
dc.description.abstract | This study developed and implemented a new feature-based map-building model that uses only sparsely sampled sonar data from a fixed ring with 16 sonar sensors. It introduces two kinds of data filter approaches to overcome challenges associated with sonar sensors, such as a wide beam aperture and the specular reflection effect. The first approach is a footprint-association (FPA) model, which associates two sonar footprints into a hypothesized circle frame in order to determine the feature type, such as a line, a point, or an arc. The FPA model provides information about the trace of centers of hypothesized circles. It extracts features from a cluster composed of more than two independent footprints that originate from the same object. The other approach is a feature-association (FTA) model, which associates a new sonar footprint into extracted features to update the feature. Both proposed methods were tested in a home-like environment using a mobile robot. | - |
dc.description.statementofresponsibility | X | - |
dc.language | English | - |
dc.publisher | KOREAN SOC MECHANICAL ENGINEERS | - |
dc.relation.isPartOf | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.subject | data filter model | - |
dc.subject | feature association | - |
dc.subject | feature-based map building | - |
dc.subject | sparse sonar data | - |
dc.subject | CERTAINTY GRID REPRESENTATION | - |
dc.title | Feature-based map building using sparse sonar data in a home-like environment | - |
dc.type | Article | - |
dc.contributor.college | 기계공학과 | - |
dc.identifier.doi | 10.1007/BF03161713 | - |
dc.author.google | Lee, SJ | - |
dc.author.google | Lim, JH | - |
dc.author.google | Cho, DW | - |
dc.relation.volume | 21 | - |
dc.relation.issue | 1 | - |
dc.relation.startpage | 74 | - |
dc.relation.lastpage | 82 | - |
dc.contributor.id | 10102903 | - |
dc.relation.journal | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.relation.index | SCI급, SCOPUS 등재논문 | - |
dc.relation.sci | SCIE | - |
dc.collections.name | Journal Papers | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.21, no.1, pp.74 - 82 | - |
dc.identifier.wosid | 000243448100006 | - |
dc.date.tcdate | 2019-01-01 | - |
dc.citation.endPage | 82 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 74 | - |
dc.citation.title | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.citation.volume | 21 | - |
dc.contributor.affiliatedAuthor | Cho, DW | - |
dc.identifier.scopusid | 2-s2.0-34249666210 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.description.wostc | 7 | - |
dc.type.docType | Article | - |
dc.subject.keywordAuthor | data filter model | - |
dc.subject.keywordAuthor | feature association | - |
dc.subject.keywordAuthor | feature-based map building | - |
dc.subject.keywordAuthor | sparse sonar data | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Engineering | - |
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