Title :
Evaluation of grid-map sensor fusion mapping algorithms
Author :
Kapach, Keren ; Edan, Yael
Author_Institution :
Ben-Gurion Univ. of the Negev, Beer Sheva
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;
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
DOI :
10.1109/ICSMC.2007.4413893
