Title :
Sonar and Video Data Fusion for Robot Localization and Environment Feature Estimation
Author :
Bonci, A. ; Ippoliti, G. ; Manna, A. La ; Longhi, S. ; Sartini, L.
Author_Institution :
Dipartimento di Ingegneria Informatica, Gestionale e dell´´ Automazione, Università Politecnica delle Marche, Via Brecce Bianche, 60131 Ancona, Italy. a.bonci@diiga.univpm.it
Abstract :
In this paper the localization and environment feature estimation problems are formulated in a stochastic setting, and an Extended Kalman Filtering (EKF) approach is proposed for the integration of odometric, video camera and sonar measures. The environment is supposed to be only partially known, and a probabilistic method for sensory data fusion aimed at increasing the environment knowledge is considered.
Keywords :
Cameras; Filtering; Mobile robots; Robot localization; Robot vision systems; Simultaneous localization and mapping; Sonar measurements; Stochastic processes; Uncertainty; Vehicles;
Conference_Titel :
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN :
0-7803-9567-0
DOI :
10.1109/CDC.2005.1583512
