Title :
3D robot sensing from sonar and vision
Author :
Akbarally, Huzefa ; Kleeman, Lindsay
Author_Institution :
Intelligent Robotics Res. Centre, Monash Univ., Clayton, Vic., Australia
Abstract :
Describes a sensor that fuses sonar and visual data to create a three dimensional (3D) model of the environment with application to robot navigation. The environment is characterized by a set of connected horizontal and vertical lines. 3D sonar data is augmented by making deductions concerning the connection and definition of lines in 2D visual data. Any errors that may result from incorrect interpretation of the 2D camera data, such as false connections between lines, can be detected by moving the robot. Experimental results from the sensor are presented
Keywords :
CCD image sensors; mobile robots; navigation; path planning; robot vision; sensor fusion; 2D visual data; 3D model; 3D robot sensing; 3D sonar data; robot navigation; vision; Cameras; Intelligent robots; Intelligent sensors; Robot sensing systems; Robot vision systems; Sensor arrays; Sensor fusion; Sensor systems; Sonar detection; Sonar navigation;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.503854
