{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,4]],"date-time":"2025-11-04T15:48:53Z","timestamp":1762271333174},"reference-count":18,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":4572,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1996,9]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>A new model for the construction of a sonar map in a specular environment has been developed and implemented. In a real world, where most of the object surfaces are specular ones, a sonar sensor surfers from a multipath effect which results in a wrong interpretation of an object's location. To reduce this effect and hence to construct a reliable map of a robot's surroundings, a probabilistic approach based on Bayesian reasoning is adopted to both evaluation of object orientations and estimation of an occupancy probability of a cell by an object. The usefulness of this approach is illustrated with the results produced by our mobile robot equipped with ultrasonic sensors.<\/jats:p>","DOI":"10.1017\/s0263574700020014","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:09:54Z","timestamp":1236690594000},"page":"527-540","source":"Crossref","is-referenced-by-count":13,"title":["Multipath Bayesian Map Construction Model from Sonar Data"],"prefix":"10.1017","volume":"14","author":[{"given":"Jong Hwan","family":"Lim","sequence":"first","affiliation":[]},{"given":"Dong Woo","family":"Chof\u2020","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700020014_ref011","first-page":"560\u2013569","article-title":"Differentiating Sonar Reflections from Corners and Planes Employing an Intelligent sensor","volume":"12","author":"Brasan","year":"1990","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"key":"S0263574700020014_ref001","unstructured":"1. Moravec H.P. and Elfes A. , \u201cHigh Resolution Maps from Wide Angle Sonar\u201d IEEE International Conference on Robotics and Automation, St. Louis (1985) pp. 116\u2013121."},{"key":"S0263574700020014_ref012","doi-asserted-by":"publisher","DOI":"10.1177\/027836499101000201"},{"key":"S0263574700020014_ref007","first-page":"249\u2013265","article-title":"Sonar-Based Real-World Mapping and Navigation","author":"Elfes","year":"1987","journal-title":"IEEE Transactions on Robotics an Automation"},{"key":"S0263574700020014_ref002","first-page":"61\u201374","article-title":"Sensor Fusion in Certainty Grids for Mobile Robots","volume":"9","author":"Moravec","year":"1988","journal-title":"AI Magazine"},{"key":"S0263574700020014_ref005","doi-asserted-by":"publisher","DOI":"10.1115\/1.2899246"},{"key":"S0263574700020014_ref008","first-page":"278\u2013288","article-title":"The Vector Field Histogram-Fast Obstacle Avoidance for Mobile Robots","volume":"7","author":"Borenstein","year":"1991","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"S0263574700020014_ref016","unstructured":"16. Nayar S.K. , Ikeuchi K. , Kanade T. , \u201cSurface Reflection: Physical and Geometrical Perspectives\u201d Proc. of Image Understanding Workshop September 11\u201313 1990 (1990) pp. 185\u2013212."},{"key":"S0263574700020014_ref010","first-page":"766\u2013778","article-title":"Physical based Simulation Model for Acoustic Sensor Robot Navigation","volume":"9","author":"Kuc","year":"1987","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"key":"S0263574700020014_ref009","first-page":"535\u2013539","article-title":"Histogramic In-Motion Mapping for Mobile Robot Obstacle Avoidance","volume":"7","author":"Borenstein","year":"1991","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"S0263574700020014_ref017","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-4286-2"},{"key":"S0263574700020014_ref004","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700007748"},{"key":"S0263574700020014_ref015","volume-title":"Ultrasonics","author":"Carlin","year":"1980"},{"key":"S0263574700020014_ref018","volume-title":"Ultrasonic Range Finders","year":"1982"},{"key":"S0263574700020014_ref014","unstructured":"14. Walter S.A. , \u201cThe Sonar Ring: Obstacle Detection for a Mobile Robot\u201d IEEE International Conference on Robotics and Automation, Raleigh North Carolina March 31-April 3, 1987 (1987) pp. 1574\u20131579."},{"key":"S0263574700020014_ref006","unstructured":"6. Lim J.H. and Cho D.W. , \u201cPhysically Based Sensor Modeling for a Sonar Map in a Specular Environment\u201d IEEE International Conference on Robotics and Automation, Nice, France (May 12\u201314, 1992) pp. 1714\u20131719."},{"key":"S0263574700020014_ref013","doi-asserted-by":"publisher","DOI":"10.1109\/34.107000"},{"key":"S0263574700020014_ref003","first-page":"57\u201360","volume-title":"AAAl Spring Symposium on Robot Navigation","author":"Cho","year":"1989"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700020014","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,12]],"date-time":"2019-05-12T20:41:35Z","timestamp":1557693695000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700020014\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1996,9]]},"references-count":18,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1996,9]]}},"alternative-id":["S0263574700020014"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700020014","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1996,9]]}}}