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1. 发明授权

US08018792B2 Method of constructing environmental map using sonar sensors 失效
标题翻译：使用声纳传感器构建环境地图的方法
公开(公告)号：US08018792B2
公开(公告)日：2011-09-13
申请号：US12453111
申请日：2009-04-29
申请人： Chung Wan Kyun , Lee Kyoung Min
发明人： Chung Wan Kyun , Lee Kyoung Min
IPC分类号： G01S15/00
CPC分类号： B25J19/026 , B25J13/089
摘要： Disclosed herein is a method of constructing an environmental map using sonar sensors. The method includes the steps of checking whether conflict cells have occurred using input sonar sensor data; if conflict cells have occurred, selecting incorrect data and eliminating the conflict cells using sound pressure comparison until the conflict cells do not occur any longer; and once the elimination has completed, preparing a grid map using a Maximum Approximated Likelihood (MAL) approach. Inconsistency in data occurs when multiple pieces of sensor data overlap each other, the conflict cells are cells that experience inconsistency over an entire arc region, and candidates for the incorrect sonar sensor data are obtained when the conflict cells occur.
摘要翻译：这里公开了使用声纳传感器构造环境地图的方法。该方法包括以下步骤：使用输入声纳传感器数据检查冲突单元是否发生; 如果发生冲突单元，则选择不正确的数据并使用声压比较来消除冲突单元，直到冲突单元不再发生; 一旦消除完成，使用最大逼近似然（MAL）方法准备网格图。当多个传感器数据彼此重叠时，数据不一致就会发生，冲突单元是在整个弧区域上出现不一致的单元，当冲突单元发生时，可以获得不正确的声纳传感器数据的候选。

2. 发明申请

US20100061185A1 Method of constructing environmental map using sonar sensors 失效
标题翻译：使用声纳传感器构建环境地图的方法
公开(公告)号：US20100061185A1
公开(公告)日：2010-03-11
申请号：US12453111
申请日：2009-04-29
申请人： Chung Wan Kyun , Lee Kyoung Min
发明人： Chung Wan Kyun , Lee Kyoung Min
IPC分类号： G01S15/00
CPC分类号： B25J19/026 , B25J13/089
摘要： Disclosed herein is a method of constructing an environmental map using sonar sensors. The method includes the steps of checking whether conflict cells have occurred using input sonar sensor data; if conflict cells have occurred, selecting incorrect data and eliminating the conflict cells using sound pressure comparison until the conflict cells do not occur any longer; and once the elimination has completed, preparing a grid map using a Maximum Approximated Likelihood (MAL) approach. Inconsistency in data occurs when multiple pieces of sensor data overlap each other, the conflict cells are cells that experience inconsistency over an entire arc region, and candidates for the incorrect sonar sensor data are obtained when the conflict cells occur.
摘要翻译：这里公开了使用声纳传感器构造环境地图的方法。该方法包括以下步骤：使用输入声纳传感器数据检查冲突单元是否发生; 如果发生冲突单元，则选择不正确的数据并使用声压比较来消除冲突单元，直到冲突单元不再发生; 一旦消除完成，使用最大逼近似然（MAL）方法准备网格图。当多个传感器数据彼此重叠时，数据不一致就会发生，冲突单元是在整个弧区域上出现不一致的单元，当冲突单元发生时，可以获得不正确的声纳传感器数据的候选。

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