Robot path planning using SIFT and sonar sensor fusion
ROCOM'07 Proceedings of the 7th WSEAS International Conference on Robotics, Control & Manufacturing Technology
A sensor fusion framework for online sensor and algorithm selection
Robotics and Autonomous Systems
Towards an intelligent and supportive environment for people with physical or cognitive restrictions
Proceedings of the 2nd International Conference on PErvasive Technologies Related to Assistive Environments
Wheelchair-based open robotic platform and its performance within the AmbienNet project
Proceedings of the 2nd International Conference on PErvasive Technologies Related to Assistive Environments
Qualitative distances and qualitative image descriptions for representing indoor scenes in robotics
Pattern Recognition Letters
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Accurate models of the environment are a crucial requirement for autonomous mobile robots. The process of how to acquire knowledge about the operating environment is one of the most challenging problems in this research area. The quality of the model depends on the number and types of sensors used. Occupancy grids are the most common low-level models of the environment used in robotics for fusion of noisy data. This paper first introduces a novel method for building an occupancy grid from a monocular color camera. The next part of the work describes a method for fusion of camera data with data from a rangefinder. The final part presents a new method for measuring the quality of the occupancy grid based on the quality of the path created by the grid. The methods were experimentally verified with an indoor experimental robot at the Czech Technical University.