Position estimation for a mobile robot using data fusion

Author

Stella, E. ; Cicirelli, G. ; Lovergine, F.P. ; Distante, A.

Author_Institution

Istituto Elaborazione Segnali ed Immagini, CNR, Italy

fYear

1995

fDate

27-29 Aug 1995

Firstpage

565

Lastpage

570

Abstract

This paper describes a position estimation technique based on the fusion of data obtained by two independent subsystems in a mobile robot navigation context. The first subsystem is a self-location one composed of an onboard camera, an onboard image processing unit and artificial landmarks; the second one is a dead-reckoning subsystem based on odometry. The robot navigation system integrates the position estimation obtained by the vision subsystem with the position estimated by odometry using a Kalman filter framework

Keywords

CCD image sensors; Kalman filters; distance measurement; mobile robots; navigation; path planning; robot vision; sensor fusion; state estimation; Kalman filter framework; artificial landmarks; data fusion; dead-reckoning subsystem; mobile robot; navigation; odometry; onboard camera; onboard image processing unit; position estimation; self-location; vision subsystem; Cameras; Charge-coupled image sensors; Image processing; Indoor environments; Machine vision; Mobile robots; Navigation; Robot vision systems; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 1995., Proceedings of the 1995 IEEE International Symposium on

Conference_Location

Monterey, CA

ISSN

2158-9860

Print_ISBN

0-7803-2722-5

Type

conf

DOI

10.1109/ISIC.1995.525115

Filename

525115