The DOI matches its Crossref record; 7 of the 7 references it cites were found in a registry or an index.
High resolution maps from wide angle sonar
Abstract
We describe the use of multiple wide-angle sonar range measurements to map the surroundings of an autonomous mobile robot. A sonar range reading provides information concerning empty and occupied volumes in a cone (subtending 30 degrees in our case) in front of the sensor. The reading is modelled as probability profiles projected onto a rasterized map, where somewhere occupied and everywhere empty areas are represented. Range measurements from multiple points of view (taken from multiple sensors on the robot, and from the same sensors after robot moves) are systematically integrated in the map. Overlapping empty volumes re-inforce each other, and serve to condense the range of occupied volumes. The map definition improves as more readings are added. The final map shows regions probably occupied, probably unoccupied, and unknown areas. The method deals effectively with clutter, and can be used for motion planning and for extended landmark recognition. This system has been tested on the Neptune mobile robot at CMU.
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Cites
Obstacle avoidance and navigation in the real world by a seeing robot rover
Moravec, H. (2018) · KiltHub Repository · doi:10.1184/r1/6557033 · Cited by 842
Self-citationPath Relaxation: Path Planning for a Mobile Robot
Thorpe, C., & Matthies, L. (1984) · doi:10.1109/oceans.1984.1152243 · Cited by 186
Applications of digital signal processing
Peterson, A. M. (1979) · IEEE Transactions on Acoustics Speech and Signal Processing · doi:10.1109/tassp.1979.1163229 · Cited by 73
A functional vehicle for autonomous mobile robot research
Podnar, G., Dowling, D., & Blackwell, M. (2018) · KiltHub Repository · doi:10.1184/r1/6550292 · Cited by 21
Diagnostic ultrasound: An introduction to the interactions between ultrasound and biological tissues
Wells, P. N. T. (1976) · Ultrasonics · doi:10.1016/0041-624x(76)90073-1 · Cited by 16
Experience with Visual Robot Navigation
Matthies, L. H., & Thorpe, C. (1984) · doi:10.1109/oceans.1984.1152232 · Cited by 11
The CMU rover and the FIDO vision navigation system
Thorpe, C. (1983) · International Symposium on Unmanned Untethered Submersible Technology, · doi:10.1109/uust.1983.1158510 · Cited by 8
Cited by
A frontier-based approach for autonomous exploration
Yamauchi, B. (2002) · Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation' · doi:10.1109/cira.1997.613851 · Cited by 1,695
Sonar-based real-world mapping and navigation
Elfes, A. (1987) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1987.1087096 · Cited by 1,397
Self-citationReal-time obstacle avoidance for fast mobile robots
Borenstein, J., & Koren, Y. (1989) · IEEE Transactions on Systems, Man, and Cybernetics · doi:10.1109/21.44033 · Cited by 1,258
Visual Place Recognition: A Survey
Lowry, S., Sünderhauf, N., Newman, P., Leonard, J. J., Cox, D., Corke, P., & Milford, M. J. (2016) · IEEE Transactions on Robotics · doi:10.1109/tro.2015.2496823 · Cited by 1,079
Sensor Fusion in Certainty Grids for Mobile Robots
Moravec, H. P. (1989) · Sensor Devices and Systems for Robotics · doi:10.1007/978-3-642-74567-6_19 · Cited by 964
Self-citation
Metadata
- Authors
- Moravec, H., & Elfes, A.
- Venue
- Proceedings. 1985 IEEE International Conference on Robotics and Automation
- Published
- 2005-03-23
- Volume
- 2
- Pages
- 116-121
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2154418813
- Cited by
- 1,772
- References
- 7
- FWCI
- 200.10
- Type
- conference paper
- Language
- en
- Open access
- closed
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