Fusing range and intensity images for mobile robot localization

Citation
J. Neira et al., Fusing range and intensity images for mobile robot localization, IEEE ROBOT, 15(1), 1999, pp. 76-84
Citations number
33
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
ISSN journal
1042296X → ACNP
Volume
15
Issue
1
Year of publication
1999
Pages
76 - 84
Database
ISI
SICI code
1042-296X(199902)15:1<76:FRAIIF>2.0.ZU;2-0
Abstract
In this paper, we present the two-dimensional (2-D) version of the symmetri es and perturbation model (SPmodel), a probabilistic representation model a nd an EKF integration mechanism for uncertain geometric information that is suitable for sensor fusion and integration in multisensor systems, We appl y the SPmodel to the problem of location estimation in indoor mobile roboti cs, experimenting with the mobile robot MACROBE. We have chosen two types o f complementary sensory information: 1) range images; 2) intensity images; obtained from a laser sensor. Results of these experiments show that fusing simple and computationally inexpensive sensory information can allow a mob ile robot to precisely locate itself. They also demonstrate the generality of the proposed fusion and integration mechanism.