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Target localization based on multisensor fusion for mobile robots
Yang, G. -S.; Hou, Z. -G.; Tan, M.; Yan, H.
2006
发表期刊INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
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
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
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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.
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