Vision and laser sensor data fusion technique for target approaching by outdoor mobile robot

Aneesh Chand, Shin'ichi Yuta

研究成果: Conference contribution

8 被引用数 (Scopus)

抄録

The authors have been developing an outdoor mobile robot intended to provide increased traveling distance by autonomously negotiating and crossing a road crossing intersection while traveling along pedestrian sidewalks in an urban environment. In this paper, high precision navigation towards a pedestrian push-button box by a mobile robot for the autonomous activation of the button is presented. We show a dual sensor fusion technique using a monocular camera and laser range sensor with which an outdoor mobile robot can detect, localize and then accurately navigate towards a button box so that it could autonomously press the pedestrian push button in order to trigger the crossing sequence. The method involves determining the image formation of the target on the image sensor of the camera, using it to estimate the object position in the real world and then using data from the laser range sensor to acquire a precise location of the object relative to the robot and finally perform the path planning. A two-tiered validation system, one at the vision level and the second at the laser scan data level, detects inaccurate detections and results in a robust system. The proposed method is also applicable for any form of target approaching. Experimental results verify the efficacy of the system and concluding remarks are also given.

本文言語English
ホスト出版物のタイトル2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
ページ1624-1629
ページ数6
DOI
出版ステータスPublished - 2010 12 1
イベント2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin, China
継続期間: 2010 12 142010 12 18

出版物シリーズ

名前2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

Conference

Conference2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
国/地域China
CityTianjin
Period10/12/1410/12/18

ASJC Scopus subject areas

  • 人工知能
  • バイオテクノロジー
  • 人間とコンピュータの相互作用

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