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A New Sonar-based Landmark for Localization in Indoor Environments

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Abstract

This paper presents a new sonar based landmark to represent significant places in an environment for localization purposes. This landmark is based on extracting the contour free of obstacles around the robot from a local evidence grid. This contour is represented by its curvature, calculated by a noise-resistant function which adapts to the natural scale of the contour at each point. Then, curvature is reduced to a short feature vector by using Principal Component Analysis. The landmark calculation method has been successfully tested in a medium scale real environment using a Pioneer robot with Polaroid sonar sensors.

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Authors and Affiliations

  1. Departamento de Tecnología Electrónica, E.T.S.I. Telecomunicación, Universidad de Málaga, Campus de Teatinos, 29071, Málaga, Spain

    A. Poncela, C. Urdiales, C. de Trazegnies & F. Sandoval

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  1. A. Poncela
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  2. C. Urdiales
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  3. C. de Trazegnies
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  4. F. Sandoval
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Correspondence to A. Poncela.

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Poncela, A., Urdiales, C., Trazegnies, C.d. et al. A New Sonar-based Landmark for Localization in Indoor Environments. Soft Comput 11, 281–285 (2007). https://doi.org/10.1007/s00500-006-0069-3

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  • DOI: https://doi.org/10.1007/s00500-006-0069-3

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