A comparative study of map building techniques by processing sonar arc-maps

Abstract

In this study, four signal processing schemes regarding sonar sensor based map-building applications were compared. The newly proposed method, Directional Maximum is found to be successful in terms of reducing the innate angular ambiguity of the sonar sensors. With respect to several works presented earlier in the same field and specifically map-building related studies, the new method is successful both in terms of mean absolute error and computational cost.