Improving robot's indoor navigation capabilities by integrating visual, sonar, and odometric measurements

Tarcisio Coianiz; Marco Aste

doi:10.1117/12.150258

20 August 1993 Improving robot's indoor navigation capabilities by integrating visual, sonar, and odometric measurements

Tarcisio Coianiz, Marco Aste

Author Affiliations +

Proceedings Volume 2059, Sensor Fusion VI; (1993) https://doi.org/10.1117/12.150258
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

In the framework of autonomous navigation, an application of Kalman filtering to the problem of multi-sensor information processing is presented. In particular, estimation of model parameters is considered when a mobile robot equipped with a set of sonars and a standard TV camera moves along corridors, and the environment is affected by sharp discontinuities due to the presence of recesses or protrusions. Experiments performed in real-world situations are also presented and discussed.

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Tarcisio Coianiz and Marco Aste "Improving robot's indoor navigation capabilities by integrating visual, sonar, and odometric measurements", Proc. SPIE 2059, Sensor Fusion VI, (20 August 1993); https://doi.org/10.1117/12.150258

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