Fusing range and intensity images for mobile robot localization

被引：51

作者：

Neira, J ^{[1
]}

Tardós, JD

Horn, J

Schmidt, G

机构：

[1] Univ Zaragoza, Dept Informat & Ingn Sistemas, E-50015 Zaragoza, Spain

[2] Siemens AG, Corp Technol, D-81730 Munich, Germany

[3] Tech Univ Munich, Lehrstuhl Steuerungs & Regelungstech, D-80290 Munich, Germany

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1999年 / 15卷 / 01期

关键词：

computer vision; map-based localization; mobile robots; range finder; sensor fusion;

D O I：

10.1109/70.744604

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we present the two-dimensional (2-D) version of the symmetries and perturbation model (SPmodel), a probabilistic representation model and an EKF integration mechanism for uncertain geometric information that is suitable for sensor fusion and integration in multisensor systems, We apply the SPmodel to the problem of location estimation in indoor mobile robotics, experimenting with the mobile robot MACROBE. We have chosen two types of 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 mobile robot to precisely locate itself. They also demonstrate the generality of the proposed fusion and integration mechanism.

引用

页码：76 / 84

页数：9