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Feature Initialization Method using Region of Constant Depth for Range-Only Mapping
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- Authors
- Byungjae Park, Wan Sik Choi, Woo Yong Han
- Issue Date
- 2014-10
- Citation
- International Symposium on Global Satellite Navigation Systems (ISGNSS) 2014, pp.1-5
- Language
- English
- Type
- Conference Paper
- Abstract
- Range-only sensors can be used for various location-based services in an indoor or outdoor environment. However, range-only mapping is a challenging issue because of the property of a range-only sensor. A rangeonly sensor only measures range information without bearing information. Consequently, the position of a range-only sensor is ambiguous, and the feature initialization is a problem for range-only mapping.In this paper, the feature initialization method for range-only mapping is proposed. This method uses the region of constant depth (RCD) to estimate the position of a range-only sensor by combining range measurements from different positions. Using the RCD, the proposed method estimates hypotheses of the position of a range-only sensor. In addition, the proposed method also estimates the uncertainty of the position of a range-only sensor by modeling measurement errors of a range-only sensor appropriately.Using the proposed method, the feature of a range-only sensor can be appropriately initialized and the initialized feature on a map can be updated by adding more measurements using various range-only mapping methods.
- KSP Keywords
- Constant depth, Different positions, Location-Based Services, Mapping method, Measurement errors, Outdoor environments, range measurement, range-only