CASIA OpenIR  > 数字内容技术与服务研究中心  > 听觉模型与认知计算
Multi-sensor Fusion Glass Detection for Robot Navigation and Mapping
Hao Wei1,2; Xue-en Li1; Ying Shi1; Bo You1; Yi Xu1
2018
Conference Name2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)
Pages184-188
Conference Date2018-8-16
Conference PlaceBeijing,China
Abstract

Simultaneous Localization and Mapping(SLAM) has become an essential function of the robot, but existing SLAM algorithms cannot work robustly and stably in a glass environment, especially when using low cost sensors. In this paper, we propose an efficient and robust method to detect glass based on multi-sensor fusion technology of ultrasonic and laser scan data. By integrating the glass detection algorithm with SLAM, we have improved an existing SLAM algorithm to provide more accurate mapping and localization results. On this basis, we proposed a new robot navigation method and experimented on the robot platform, the experiments show that the new navigation frame increased robot navigation efficiency by 11% in glass environment.

KeywordRobot Navigation And Mapping Multi-sensor Fusion
MOST Discipline Catalogue工学 ; 工学::计算机科学与技术(可授工学、理学学位)
DOI10.1109/WRC-SARA.2018.8584213
Indexed ByEI
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23686
Collection数字内容技术与服务研究中心_听觉模型与认知计算
Corresponding AuthorHao Wei
Affiliation1.中国科学院自动化研究所
2.中国科学院大学
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Hao Wei,Xue-en Li,Ying Shi,et al. Multi-sensor Fusion Glass Detection for Robot Navigation and Mapping[C],2018:184-188.
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