DocumentCode
1844537
Title
3D robot sensing from sonar and vision
Author
Akbarally, Huzefa ; Kleeman, Lindsay
Author_Institution
Intelligent Robotics Res. Centre, Monash Univ., Clayton, Vic., Australia
Volume
1
fYear
1996
fDate
22-28 Apr 1996
Firstpage
686
Abstract
Describes a sensor that fuses sonar and visual data to create a three dimensional (3D) model of the environment with application to robot navigation. The environment is characterized by a set of connected horizontal and vertical lines. 3D sonar data is augmented by making deductions concerning the connection and definition of lines in 2D visual data. Any errors that may result from incorrect interpretation of the 2D camera data, such as false connections between lines, can be detected by moving the robot. Experimental results from the sensor are presented
Keywords
CCD image sensors; mobile robots; navigation; path planning; robot vision; sensor fusion; 2D visual data; 3D model; 3D robot sensing; 3D sonar data; robot navigation; vision; Cameras; Intelligent robots; Intelligent sensors; Robot sensing systems; Robot vision systems; Sensor arrays; Sensor fusion; Sensor systems; Sonar detection; Sonar navigation;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.503854
Filename
503854
Link To Document