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Article: Heterogeneous multisensor fusion for mapping dynamic environments

TitleHeterogeneous multisensor fusion for mapping dynamic environments
Authors
KeywordsLocalization
Mapping
Mobile Robot
Sensor Fusion
Tracking
Issue Date2007
PublisherV S P. The Journal's web site is located at http://www.brill.nl/default.aspx?partid=18&pid=9713
Citation
Advanced Robotics, 2007, v. 21 n. 5-6, p. 661-688 How to Cite?
AbstractIn this paper, we propose a heterogeneous multisensor fusion algorithm for mapping in dynamic environments. The algorithm synergistically integrates the information obtained from an uncalibrated camera and sonar sensors to facilitate mapping and tracking. The sonar data is mainly used to build a weighted line-based map via the fuzzy clustering technique. The line weight, with confidence corresponding to the moving object, is determined by both sonar and vision data. The motion tracking is primarily accomplished by vision data using particle filtering and the sonar vectors originated from moving objects are used to modulate the sample weighting. A fuzzy system is implemented to fuse the two sensor data features. Additionally, in order to build a consistent global map and maintain reliable tracking of moving objects, the well-known extended Kalman filter is applied to estimate the states of robot pose and map features. Thus, more robust performance in mapping as well as tracking are achieved. The empirical results carried out on the Pioneer 2DX mobile robot demonstrate that the proposed algorithm outperforms the methods a using homogeneous sensor, in mapping as well as tracking behaviors.
Persistent Identifierhttp://hdl.handle.net/10722/155898
ISSN
2015 Impact Factor: 0.516
2015 SCImago Journal Rankings: 0.583
References

 

DC FieldValueLanguage
dc.contributor.authorHuang, Gen_US
dc.contributor.authorRad, ABen_US
dc.contributor.authorWong, YKen_US
dc.contributor.authorIp, YLen_US
dc.date.accessioned2012-08-08T08:38:16Z-
dc.date.available2012-08-08T08:38:16Z-
dc.date.issued2007en_US
dc.identifier.citationAdvanced Robotics, 2007, v. 21 n. 5-6, p. 661-688en_US
dc.identifier.issn0169-1864en_US
dc.identifier.urihttp://hdl.handle.net/10722/155898-
dc.description.abstractIn this paper, we propose a heterogeneous multisensor fusion algorithm for mapping in dynamic environments. The algorithm synergistically integrates the information obtained from an uncalibrated camera and sonar sensors to facilitate mapping and tracking. The sonar data is mainly used to build a weighted line-based map via the fuzzy clustering technique. The line weight, with confidence corresponding to the moving object, is determined by both sonar and vision data. The motion tracking is primarily accomplished by vision data using particle filtering and the sonar vectors originated from moving objects are used to modulate the sample weighting. A fuzzy system is implemented to fuse the two sensor data features. Additionally, in order to build a consistent global map and maintain reliable tracking of moving objects, the well-known extended Kalman filter is applied to estimate the states of robot pose and map features. Thus, more robust performance in mapping as well as tracking are achieved. The empirical results carried out on the Pioneer 2DX mobile robot demonstrate that the proposed algorithm outperforms the methods a using homogeneous sensor, in mapping as well as tracking behaviors.en_US
dc.languageengen_US
dc.publisherV S P. The Journal's web site is located at http://www.brill.nl/default.aspx?partid=18&pid=9713en_US
dc.relation.ispartofAdvanced Roboticsen_US
dc.subjectLocalizationen_US
dc.subjectMappingen_US
dc.subjectMobile Roboten_US
dc.subjectSensor Fusionen_US
dc.subjectTrackingen_US
dc.titleHeterogeneous multisensor fusion for mapping dynamic environmentsen_US
dc.typeArticleen_US
dc.identifier.emailHuang, G:gqhuang@hkucc.hku.hken_US
dc.identifier.authorityHuang, G=rp00118en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.scopuseid_2-s2.0-34047234177en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-34047234177&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume21en_US
dc.identifier.issue5-6en_US
dc.identifier.spage661en_US
dc.identifier.epage688en_US
dc.publisher.placeNetherlandsen_US
dc.identifier.scopusauthoridHuang, G=7403425048en_US
dc.identifier.scopusauthoridRad, AB=7005277683en_US
dc.identifier.scopusauthoridWong, YK=7403041696en_US
dc.identifier.scopusauthoridIp, YL=7006740137en_US

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