DocumentCode
2544494
Title
Evaluation of grid-map sensor fusion mapping algorithms
Author
Kapach, Keren ; Edan, Yael
Author_Institution
Ben-Gurion Univ. of the Negev, Beer Sheva
fYear
2007
fDate
7-10 Oct. 2007
Firstpage
829
Lastpage
834
Abstract
This paper presents a thorough evaluation of grid map based sensor fusion algorithms for mapping the environment of a mobile robot. Three physical sensors were used for creating the grid maps: a CCD camera, a set of ultrasonic sensors and a laser rangefinder. An adaptive fuzzy logic algorithm was compared to three logical sensor fusion algorithms. Results indicate the superiority of the adaptive fuzzy logic algorithm with a 0.075 confidence level.
Keywords
CCD image sensors; SLAM (robots); fuzzy logic; mobile robots; robot vision; sensor fusion; ultrasonic transducers; CCD camera; adaptive fuzzy logic algorithm; environment mapping; grid map; laser rangefinder; logical sensor fusion algorithms; mapping algorithms; mobile robot; ultrasonic sensors; Data mining; Feature extraction; Feedback; Fuzzy logic; Merging; Mobile robots; Pixel; Sensor fusion; Sensor systems; Student members;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 2007. ISIC. IEEE International Conference on
Conference_Location
Montreal, Que.
Print_ISBN
978-1-4244-0990-7
Electronic_ISBN
978-1-4244-0991-4
Type
conf
DOI
10.1109/ICSMC.2007.4413893
Filename
4413893
Link To Document