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.
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|出版ステータス||Published - 2000 12月 3|
|イベント||ICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA|
継続期間: 2000 4月 24 → 2000 4月 28
ASJC Scopus subject areas