Estimating Object Location using Particle Clustering on Rotating Sonar Detection
Abstract: Particle filter been
used for localization and position estimation with various applications.
Several method applied in order to reduce the complexity of particle
information to lower processing resource requirement while providing a precise
map. Sonar sensor provide a range precision with poor bearing. Partial
observation applied to gain estimation of object location using several
measurement from multiple vantage point. This paper propose grouping of
detection particle from sonar sensor using clustering method in order to
provide estimated object position from a single vantage point. The approach
estimate objects using euclidean distance treshold to separate one object
detections from the other and group all the detection particle into cluster
containing a set of number. As a result of particle clustering, object location
can be estimated with their respective weight of certainty as an attribution
for further decision making.
Author: Harindra Wisnu Pradhana,
Suryono, Achmad Widodo
Journal Code: jptkomputergg140056
