Target localization based on multisensor fusion for mobile robots

CASIA OpenIR > 09年以前成果

	Target localization based on multisensor fusion for mobile robots
	Yang, G. -S.; Hou, Z. -G.; Tan, M.; Yan, H.
发表期刊	INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
	2006
卷号	21 期号:3 页码:165-173
文章类型	Article
摘要	Using CCD, ultrasonic and infrared sensors, the authors propose a new hierarchical architecture for multisensor fusion, along with its algorithms for mobile robots. According to the architecture, firstly, an approach to locating targets is proposed when only ultrasonic sensors are available. Secondly, Gabor filter technology is employed to recognize unknown targets using the images provided by the CCD alone. Moreover, on the basis of the polynomial approximation, a method for calculating the coordinates of the ground special points, which are taken as the position descriptions of the recognized target, is presented. Thirdly, when CCD and ultrasonic sensors are available simultaneously, elements at the intersection of the information from CCD and ultrasonic sensors are fused to form reliable position coordinates of the recognized target. Last, the algorithm is tested on our designed and developed mobile robot, CASIA-I.
关键词	Multisensor Fusion Polynomial Approximation Target Localization Target Recognition Mobile Robot
WOS标题词	Science & Technology ; Technology
关键词[WOS]	NAVIGATION ; CAMERA
收录类别	SCI
语种	英语
WOS研究方向	Automation & Control Systems ; Robotics
WOS类目	Automation & Control Systems ; Robotics
WOS记录号	WOS:000241276700002
引用统计	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/9338
专题	09年以前成果
作者单位	1.Henan Univ, Inst Adv Control & Informat Proc, Kaifeng 475001, Peoples R China 2.Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
推荐引用方式 GB/T 7714	Yang, G. -S.,Hou, Z. -G.,Tan, M.,et al. Target localization based on multisensor fusion for mobile robots[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2006,21(3):165-173.
APA	Yang, G. -S.,Hou, Z. -G.,Tan, M.,&Yan, H..(2006).Target localization based on multisensor fusion for mobile robots.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,21(3),165-173.
MLA	Yang, G. -S.,et al."Target localization based on multisensor fusion for mobile robots".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 21.3(2006):165-173.