Specular Reflection Probability in the Certainty Grid Representation

[+] Author and Article Information
Jong Hwan Lim

Department of Mechanical Engineering, Cheju National University, 1 Ara 1-dong, Cheju, 690-756, Korea

Dong Woo Cho

Department of Mechanical Engineering, Pohang University of Science and Technology, San 31 Hyoja-dong, Pohang 790-784, Korea

J. Dyn. Sys., Meas., Control 116(3), 512-520 (Sep 01, 1994) (9 pages) doi:10.1115/1.2899246 History: Received July 22, 1993; Online March 17, 2008


A new method for solving the specular reflection problem of sonar systems has been developed and implemented. This method, the specular reflection probability method, permits the robot to construct a high quality probability map of an environment composed of specular surfaces. The method employs two parameters, the range confidence factor (RCF) and orientation probability. The RCF is the measure of confidence in the returning range from a sensor under reflective environment, and the factor will have low value for long range information and vice versa. Orientation probability represents the surface orientation of an object. Bayesian reasoning is used to update the orientation probability from the range readings of the sensor. The usefulness of this approach is illustrated with the results produced by our mobile robot equipped with ultrasonic sensors.

Copyright © 1994 by The American Society of Mechanical Engineers
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