The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Various three-dimensional environment representation techniques exist depending on the type of sensor, and the level of expression varies depending on the characteristics of the sensor. Our sensor system is composed of a three-dimensional lasers scanner and a stereo camera. A rigid transformation matrix representing a three-dimensional relative pose is obtained by calibration between a stereo camera...
This paper proposes a front object recognition system for the safety of driving, which is based on sensor fusion with laser range finder and stereo vision. The study utilizes a stereo vision system for objects detection. Since the calculation time of the stereo vision algorithm is too long, in order to detect objects immediately, a laser range finder is integrated to improve the calculation time and...
Multisensor data fusion is an emerging technology applied to military areas such as automated target recognition, battlefield surveillance, guidance and control of autonomous vehicles and also to non-military applications such as monitoring of complex machinery, medical diagnosis, and smart buildings. Techniques for multisensor data fusion include artificial intelligence, pattern recognition, statistical...
Efficient estimation of obstacles is a crucial component in autonomous vehicle navigation. Fusing stereo vision and laser scan data is a widely used approach for obstacle detection and navigation. Stereo vision can detect obstacles and the ground. Planar laser range finders can detect obstacles, but false positives occur when the scans collide with the ground. This paper proposes an algorithm for...
In order to obtain an optimal motion of a mobile robot in different environmental structures, the motion strategy has to be adapted to the environment. For this, a classifier is needed that classifies the robots environment. Special driving methods have to be provided that lead to an optimal motion in the respective environment. In this paper, a survey of the architecture of motion control and its...
In this paper, we discuss how to determine the position of the leader for leader-following formation control. In order to prepare the fusion of laser and camera, we complement each other's strengths and weaknesses. And we proposed using a gimbal to eliminate the vibration that makes both sensors unreliable.
One of the main problems of binary classification of overlapping distributions is that there always exist misclassification errors with any value of threshold. In this paper, we propose a novel lazy decision approach for robust object detection and tracking, where decision on an uncertain observation whose evaluation lies between low and high thresholds is postponed until a clear evidence appears...
Sensor data fusion using more than one senor such as sonar sensors fusion reduces uncertainties generated from a single sensor. To learn the environment using more than one sensor information, an accurate sensor model as well as a reasonable sensor fusion methodology is needed. In this work, the Moravec-Elfes sonar model for occupancy grid representation and the recursive Bayes update rule in sensor...
Three-dimensional mobile mapping in indoor environment, mostly global navigation satellite system-denied space, is to consecutively align the frames to build a global 3-D map of an indoor environment. One of the major difficulties of the current solutions is the failure at the insufficient overlapping between the frames, which is the reality of a lack of correspondences between the frames. To overcome...
The presented work goes one step further than only combining data from different sensors. The corresponding points of an image and a 3D point cloud are determined through calibration. Color information is thereby assigned to every voxel in the overlapping area of a stereo camera system and a laser range finder. Then we analyze the image and search for the locations, which are especially susceptible...
This paper presents a sensor fusion system for autonomous guidance of a robot. The sensor fusion system is physically composed of a laser range finder and two vision sensors. Also, it is systematically designed to fuse the information obtained from sensors and to overcome those sensor's drawbacks. To be specific, it utilizes double fuzzy logics for fusion and extended Kalman filter for estimation...
In this paper, we proposed a pedestrian detection system based on laser and image data fusion. The high speed of laser data based location and precise of image based classification are fully explored. First, laser scanner point data is clustered into segments, each of which implies a pedestrian candidate. Then, the segments are projected to the image domain to form regions of interest (ROI) on the...
This paper presents a positioning method of the laser guidance with a particle filter for an AGV (automatic guided vehicle). Wired guidance and magnetic guidance system have been used mainly for AGV's guidance in industry. However, these guidance systems have an expensive installation cost and a difficult maintenance. Therefore, the laser guidance system as a wireless guidance system is increasingly...
In this paper we have developed a technique for low level data fusion between laser and monocular color camera using occupancy grid framework in the context of internal representation of external environment for object detection. Based on a small variant of background subtraction technique we construct an occupancy grid for camera and fuse it with the one constructed for laser to get a combined view...
This paper proposes the use of topological maps in order to implement a SLAM approach, based on sensor fusion, to deal better with the problem of inaccuracy and uncertainty in sensor data. The contribution of this work is an algorithm that uses multiple sensory sources and multiple topological maps to improve the estimation of localization as generic as possible. We can obtain better results when...
Intelligent Service Robot (ISR) has become increasingly noticed because of new devices and novel technologies that make ISR a truly handy human aid in areas like medical care, security patrol, tour guide and edutainment. Therefore, how to provide an applicable map for ISR to autonomously navigate inside a building for task execution becomes an imminent issue. This paper investigates an information...
This paper proposes multi sensor fusion based on an effective calibration method for a perception system designed for mobile robots and intended for later object recognition. The perception system consists of a camera and a three-dimensional laser range finder. The three-dimensional laser range finder is based on a two-dimensional laser scanner and a pan-tilt unit as a moving platform. The calibration...
Intelligent Service Robot (ISR) has become increasingly noticed because of new devices and novel technologies that advance ISR to be true handy human aids in areas like medical care, security patrol, tour guide and edutainment. Therefore, how to provide an applicable map for ISR to autonomously navigate inside a building for task execution becomes an essential issue. This paper investigates a consistent...
This paper proposes an effective method for extracting corner features on structured environment based on sensor fusion of monocular vision and laser range data during Simultaneous Localization and Mapping (SLAM). Fusing vision and laser data of the same corner feature, not only improving the accuracy of SLAM, but also obtaining more three-dimensional information, which extends a two-dimensional map...
This paper provide a method for reconstruction of non-structured 3D scene both indoor and outdoor. Based on the fusion of panoramic laser and monocular vision, we use Levenberg-Marquardt method to carry out the intrinsic calibration of a camera and the extrinsic calibration between a camera and a 3D laser range finder. We use the calibration result to color the laser data, and then expand to the whole...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.