DocumentCode
3130666
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
fYear
2005
fDate
12-15 Dec. 2005
Firstpage
8337
Lastpage
8342
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN
0-7803-9567-0
Type
conf
DOI
10.1109/CDC.2005.1583512
Filename
1583512
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