Effective Maximum Likelihood Grid Map With Conflict Evaluation Filter Using Sonar Sensors

@article{Lee2009EffectiveML,
  title={Effective Maximum Likelihood Grid Map With Conflict Evaluation Filter Using Sonar Sensors},
  author={Kyoungmin Lee and Wan Kyun Chung},
  journal={IEEE Transactions on Robotics},
  year={2009},
  volume={25},
  pages={887-901}
}
In this paper, we address the problem of building a grid map using cheap sonar sensors, i.e., the problem of using erroneous sensors when seeking to model an environment as accurately as possible. We rely on the inconsistency of information among sonar measurements and the sound pressure of the waves from the sonar sensors to develop a new method of detecting incorrect sonar readings, which is called the conflict evaluation with sound pressure (CEsp). To fuse the correct measurements into a map… CONTINUE READING
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