procedures for the interpretation of measurement data which is a wellenreflexion based stereosensoranordnung)

摘要

The invention relates to a method by means of which, for example, self-propelled mobile units can create a more accurate environmental map while moving through an unknown environment. The method according to the invention is predicated on the stereo sensor apparatus operating with a plurality of sensors and, via an evaluation unit, evaluating propagation-time differences for signals received on individual sensors and combining these signals to form measured-value groups relating to an object in the environment. Using the method according to the invention, the measurement results are intelligently revised and those measured values which would indicate, for example, edges behind surfaces or surfaces behind surfaces are eliminated, and the associated objects which are described by these measured values are suppressed in the environmental model of the sensor apparatus. Furthermore, the method according to the invention intends to eliminate measured-value groups which have the same distance (range) values, any object which supplies a relatively strong signal to the sensors being kept in the environmental map. In other respects, the angular dependency of object detection is taken into account by the sensors. IMAGE