Indoor Mapping Using Sonar Sensor and Otsu Method

• Autorzy: Dimitrova-Grekow T. , Salauyou V. , Kowalski K.
• Języki publikacji: EN

Abstrakty

EN

In this paper we present an indoor mapping algorithm based on sonar sensor. The overall object detection and mapping experiment is based on small scale local spatial information which has been accomplished in a 2D geometrical map. Considering all drawbacks and pluses of ultrasonic sensors, we present an innovative mapping approach, applying the Otsu’s method and Hit-or-Miss for sonar-data processing. The collected data are treated as a gray-scale picture. For its binarization, we applied the well-known for vision-based systems threshold calculation. Then also the morphology effect, what rises additionally the mapping accuracy, as is shown at the end of the paper. The robot is based on the education construction set LEGO Mindstorms EV3 intelligent brick on ev3dev - a Debian Linux-based operating system and Python 2.0 have been used for programming. The results are evaluated and compared with the real space.

Słowa kluczowe

EN

mapping; sonar; Otsu's method; education robot

• Wydawca: Wydawnictwo PAK
• Czasopismo: Measurement Automation Monitoring
• Rocznik: 2017
• Tom: Vol. 63, No. 6
• Strony: 214--216
• Opis fizyczny: Bibliogr. 7 poz., rys., tab.

Twórcy

autor

Dimitrova-Grekow T.

• Bialystok University of Technology, 45A Wiejska St., 15-351 Białystok, Poland

autor

Salauyou V.

• Bialystok University of Technology, 45A Wiejska St., 15-351 Białystok, Poland

autor

Kowalski K.

• Bialystok University of Technology, 45A Wiejska St., 15-351 Białystok, Poland

Bibliografia

• [1] Qiu H. Lu, Zhang W., Bai Y. and Fu Q.: Vision Based Mapping and Localization In Unknown Environment for Intelligent Mobile Robot. In: IEEE Intern Conference Ubiquitos Intelligence and Computing, pp. 701-706, 2014.
• [2] Netramai C., Roth H., Sachenko A.: Real-Time 3D Path and Map Estimation Using a Multi-Camera System and a FastSLAM Algorithm. In: Sensors & Transducers Journal, Vol. 24, pp. 58-66, 2013.
• [3] Medina Lee J. F. and Buitrago J. A.: Map generation and localization for a LEGO NXT robot. In: IEEE 2nd Colombian Conference on Automatic Control (CCAC), Manizales, pp. 1-5, 2015.
• [4] Kallasi F., Rizzini. D. L., Caselli S.: Fast Keypoint Features From Laser Scanner for Robot Localization and Mapping. In: IEEE Robotics and Automation Letters, Vol. 1, pp.176-184, 2016.
• [5] Patil D. A., Agiwal S. V.: Design and Implementation of Mapping Robot Using Digital Magnetic Compass and Ultrasonic Sensor. In: International Journal of Engineering Research & Technology, Vol. 4. pp. 618-621, 2015.
• [6] Beinscob P. and Reinke C.: Graph SLAM based Mapping for AGV Localization in Large Scale Warehouses. In: IEEE International Conference on Automation Science and Engineering (CASE), pp. 274-279, 2016.
• [7] Chong K. S., Kleeman L.: Feature-based Mapping in Real Large Environment Using an Ultrasonic Array. In: International Journal of Robotics Research, Vol 18, pp. 3-19, 1999.

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).