This study introduces a complete feature map building method of sonar sensors for mobile robots. This method enhances the reality of feature maps by extracting even circle features as well as line and point features from sonar data. Edge features are, moreover, generated by combining line features close to circle features extracted around corner sites. The uncertainties of the specular reflection phenomenon and wide beam width of sonar data can be, therefore, reduced through this map building method. The experimental results demonstrate a practical validity of the proposed method in those environments.
