Video data validation by sonar measures for robot localization and environment feature estimation

Authors:
A. Bonci;G. Ippoliti;A. La manna;S. Longhi
Affiliations:
Dipartimento di ingegneria informatica, gestionale e dell'automazione, università politecnica delle marchevia brecce bianche, 60131 ancona, italy.;Dipartimento di ingegneria informatica, gestionale e dell'automazione, università politecnica delle marchevia brecce bianche, 60131 ancona, italy.;Dipartimento di ingegneria informatica, gestionale e dell'automazione, università politecnica delle marchevia brecce bianche, 60131 ancona, italy.;Dipartimento di ingegneria informatica, gestionale e dell'automazione, università politecnica delle marchevia brecce bianche, 60131 ancona, italy.
Venue:
Robotica
Year:
2009

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Abstract

In this paper, the robust robot localization problem with respect to uncertainties on environment features is formulated in a stochastic setting, and an extended Kalman filtering approach is proposed for the integration of odometric, video camera, and sonar measures. The environment is supposed to be only partially known, and a probabilistic method for sensor data fusion aimed at increasing the environment knowledge is considered.