Title :
Building local floor map by use of ultrasonic and omni-directional vision sensor
Author :
Wei, Shin Chieh ; Yagi, Yasushi ; Yachida, Masahiko
Author_Institution :
Dept. of Syst. & Human Sci., Osaka Univ., Japan
Abstract :
In this paper, we propose a new fusion approach which uses the ultrasonic sensor aided by an omnidirectional vision sensor to give a grid based free space around the robot. By use of the ultrasonic sensor, the robot can obtain a conservative range information based on our nearby range filtering method. This filtering can give a more reliable result considering the sensor´s problem of specular reflection. Also, by use of the special omni-directional vision sensor we developed, the color and edge information can be obtained in a single picture and mapped to the ground plane by the inverse perspective transformation. Thus the range, color and edge information can all be expressed on a metric grid-based representation which forms the basis of our radial fusion processing. Results in an indoor cluttered environment are given which show the usefulness of our proposed sensor fusion approach
Keywords :
filtering theory; mobile robots; robot vision; sensor fusion; ultrasonic transducers; US sensor; color information; conservative range information; edge information; grid based free space; indoor cluttered environment; inverse perspective transformation; local floor map; metric grid-based representation; omnidirectional vision sensor; radial fusion processing; robot; sensor fusion; specular reflection; ultrasonic sensor; Color; Filtering; Floors; Optical reflection; Orbital robotics; Robot sensing systems; Robot vision systems; Sensor fusion; Sensor systems; Sonar;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680725