Indoor Mapping Using Sonar Sensor and Otsu Method

摘要

In this paper we present an indoor mapping algorithm based on sonar sensor. The overall object detection and mapping experiment is based on small scale local spatial inlbrmation which has been accomplished in a 2D geometrical map. Considering all drawbacks and pluses of ultrasonic sensors, we present an innovative mapping approach, applying the Otsu's method and Hit-or-Miss for sonar-data processing. The collected data are treated as a gray-scale picture. For its binarization, we applied the well-known for vision-based systems threshold calculation. Then also the morphology effect, what rises additionally the mapping accuracy, as is shown at the end of the paper. The robot is based on the education construction set LEGO Mindstorms EV3 intelligent brick on ev3dev -a Debian Linux-based operating system and Python 2.0 have been used tor programming. The results are evaluated and compared with the real space.