FEATURE EVALUATION METHOD BY USING OCCUPANCY PROBABILITY OF GRIDS

摘要

A reliability evaluation method of a feature basis map by using occupancy probability of grids is provided to periodically evaluate reliability for object's feature extracted under a dynamic environment by using occupancy probability of grids. The reliability evaluation method of a feature map for a robot includes following steps: the sensing step for sensing the object's feature by using a number of ultrasonic sensors; the prediction step for predicting location uncertainty of the object by using location uncertainty of the robot and sensing uncertainty of the sensor; the map drawing step for drawing an occupancy probability gird map by using the sensor; and the evaluation step for evaluating reliability of the extracted feature by using occupancy probability of the grids.