Data fusion in 3D through surface tracking

Authors:
Jonathan Shapiro;P. H. Mowforth
Affiliations:
The Turing Institute, George House, 36 North Hanover Street, Glasgow, Scotland;The Turing Institute, George House, 36 North Hanover Street, Glasgow, Scotland
Venue:
IEA/AIE '90 Proceedings of the 3rd international conference on Industrial and engineering applications of artificial intelligence and expert systems - Volume 1
Year:
1990

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Abstract

Sensory signals typically suffer from noise, ambiguity, spurious signals and omissions. For a robot to successfully model the environment in which it operates, it must use signals captured from different locations in time and space in an effort to select those signals that appear to be accurate. Data fusion, the process of combining signals into a single representation, is an essential component of a mobile robotics system. In this paper, we describe a new method for solving data fusion for a typical mobile robot domain, one in which precise robot location information in not known and where the robot mounted sensors employed are not calibrated.