Abstract
In this paper two computationally efficient methods for building a map of the occupancy of a space based on measurements from a ring of ultrasonic sensors are presented. The first is a method based on building a histogram of the occurrence of free and occupied space. The second is based on the calculation of the rate between occupied space measurements with respect to the total. The resulting occupancy maps have been compared with those obtained with other well-known methods, bothcoun t as well as Bayes-rule-based ones, in static environments. Free space, occupied space and unknown labels were also compared subsequent to the application of a simple segmentation algorithm. The results obtained gave rise to statistically significant differences between all the different types on comparing the resulting maps. In the case of comparing occupancy labels, no differences were found between the following pairs of methods: RATE and SUM (p − value = 0.157), ELFES and RATE (p − value = 0.600) and ELFES and SUM (p − value = 0.593).
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Rodríguez, M., Correa, J., Iglesias, R., Regueiro, C.V., Barro, S. (2000). Probabilistic and Count Methods in Map Building for Autonomous Mobile Robots. In: Wyatt, J., Demiris, J. (eds) Advances in Robot Learning. EWLR 1999. Lecture Notes in Computer Science(), vol 1812. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-40044-3_8
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DOI: https://doi.org/10.1007/3-540-40044-3_8
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