Multi-ultrasonic sensor fusion for autonomous mobile robots
Z Yi, YK Ho, CS Chua, XW Zhou - … Algorithms, and Applications …, 2000 - spiedigitallibrary.org
Z Yi, YK Ho, CS Chua, XW Zhou
Sensor Fusion: Architectures, Algorithms, and Applications IV, 2000•spiedigitallibrary.orgSpecular reflections from environments cause uncertainties to ultrasonic sensor range data.
In this paper, we examine the application of evidential method for data integration using the
specially designed sensor model to overcome the problem. Dempster's rule of combination
is used to fuse the sensor data to obtain the map defined on a 2D evidence grid. The sensor
model tries to reduce the uncertainties caused by specular reflections with a filtering factor.
Experimental results have shown the usefulness of this method.
In this paper, we examine the application of evidential method for data integration using the
specially designed sensor model to overcome the problem. Dempster's rule of combination
is used to fuse the sensor data to obtain the map defined on a 2D evidence grid. The sensor
model tries to reduce the uncertainties caused by specular reflections with a filtering factor.
Experimental results have shown the usefulness of this method.
Specular reflections from environments cause uncertainties to ultrasonic sensor range data. In this paper, we examine the application of evidential method for data integration using the specially designed sensor model to overcome the problem. Dempster's rule of combination is used to fuse the sensor data to obtain the map defined on a 2D evidence grid. The sensor model tries to reduce the uncertainties caused by specular reflections with a filtering factor. Experimental results have shown the usefulness of this method.
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