Including probabilistic target detection attributes into map representations

Range measuring sensors can play an extremely important role in robot navigation. All range measuring devices rely on a ‘detection criterion’ made in the presence of noise, to determine when the transmitted signal is considered detected and hence a range reading is obtained. In commonly used sensors, such as laser range finders and polaroid sonars, the criterion under which successful detection is assumed, is kept hidden from the user. However, ‘detection decisions’ on the presence of noise still take place within the sensor. This paper integrates signal detection probabilities into the map building process which provides the most accurate interpretation of such sensor data. To facilitate range detection analysis, map building with a frequency modulated continuous wave millimeter wave radar (FMCW MMWR), which is able to provide complete received power-range spectra for multiple targets down range is considered. This allows user intervention in the detection process and althou...

• Type: Journal
• Year: 2007
• Where: RAS
• Authors: John Mullane, Ebi Jose, Martin David Adams, Wijerupage Sardha Wijesoma
• Keywords: Map Building, Map Building Process, RAS 2007, Sensors