Abstract
This paper propose a new method of sensor fusion of an omni-directional ultrasonic sensor and an omni-directional vision sensor. A new omni-directional sonar, which we developed, can measure accurate distance and direction of reflecting points, and an omni-directional vision can give direction to edges of segment. We propose a sensor fusion method using both the reflecting points measured by the sonar and the edges of segment measured by the vision, based on the angles. Those data are different in character, so they compensate each other in the proposed method, and it becomes possible to get better information which are useful for environment recognition of mobile robots. We describe the proposed method and an experimental result to show its potential.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 3925-3930 |
| Number of pages | 6 |
| Volume | 4 |
| Publication status | Published - 2000 |
| Externally published | Yes |
| Event | ICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA Duration: 2000 Apr 24 → 2000 Apr 28 |
Other
| Other | ICRA 2000: IEEE International Conference on Robotics and Automation |
|---|---|
| City | San Francisco, CA, USA |
| Period | 00/4/24 → 00/4/28 |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
Cite this
Fusion of omni-directional sonar and omni-directional vision for environment recognition of mobile robots. / Yata, Teruko; Ohya, Akihisa; Yuta, Shinichi.
Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4 2000. p. 3925-3930.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Fusion of omni-directional sonar and omni-directional vision for environment recognition of mobile robots
AU - Yata, Teruko
AU - Ohya, Akihisa
AU - Yuta, Shinichi
PY - 2000
Y1 - 2000
N2 - This paper propose a new method of sensor fusion of an omni-directional ultrasonic sensor and an omni-directional vision sensor. A new omni-directional sonar, which we developed, can measure accurate distance and direction of reflecting points, and an omni-directional vision can give direction to edges of segment. We propose a sensor fusion method using both the reflecting points measured by the sonar and the edges of segment measured by the vision, based on the angles. Those data are different in character, so they compensate each other in the proposed method, and it becomes possible to get better information which are useful for environment recognition of mobile robots. We describe the proposed method and an experimental result to show its potential.
AB - This paper propose a new method of sensor fusion of an omni-directional ultrasonic sensor and an omni-directional vision sensor. A new omni-directional sonar, which we developed, can measure accurate distance and direction of reflecting points, and an omni-directional vision can give direction to edges of segment. We propose a sensor fusion method using both the reflecting points measured by the sonar and the edges of segment measured by the vision, based on the angles. Those data are different in character, so they compensate each other in the proposed method, and it becomes possible to get better information which are useful for environment recognition of mobile robots. We describe the proposed method and an experimental result to show its potential.
UR - http://www.scopus.com/inward/record.url?scp=0033718316&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0033718316&partnerID=8YFLogxK
M3 - Conference contribution
VL - 4
SP - 3925
EP - 3930
BT - Proceedings - IEEE International Conference on Robotics and Automation
ER -