Data fusion in 3D through surface tracking

ABSTRACT

Sensory signals typically suffer from noise, ambiguity, spurious signals and omissions. For a robot to successfully model the environment in which it operates, it must use signals captured from different locations in time and space in an effort to select those signals that appear to be accurate. Data fusion, the process of combining signals into a single representation, is an essential component of a mobile robotics system. In this paper, we describe a new method for solving data fusion for a typical mobile robot domain, one in which precise robot location information in not known and where the robot mounted sensors employed are not calibrated.

REFERENCES

• 1: B. Bhanu. Representation and shape matching of 3-d objects. IEEE Trans. Pair. Anal. Mach. Intetl., 6(3):340-351, 1984.
• 2: H. F. Durrant-Whyte, Sensor models and multisensor integration, International Journal of Robotics Research, v.7 n.6, p.97-113, Dec. 1988 [doi>10.1177/027836498800700608]
• 3: A. Elfes, Using Occupancy Grids for Mobile Robot Perception and Navigation, Computer, v.22 n.6, p.46-57, June 1989 [doi>10.1109/2.30720]
• 4: Z. P. Jin and P. H. Mowforth. A discrete approach to signal matching. Research memo TIRM-89-036, The Turing Institute, Glasgow, Scotland, january 1989.
• 5: Hans Moravec, Sensor fusion in certainty grids for mobile robots, AI Magazine, v.9 n.2, p.61-74, July/August 1988
• 6: A Sharma , S A R Scrivener, Constructing 3-D object models using multiple simulated 2.5-D sketches, International Journal of Man-Machine Studies, v.24 n.6, p.633-644, June 1986 [doi>10.1016/S0020-7373(86)80014-1]

INDEX TERMS

Primary Classification:
  I. Computing Methodologies
  I.2 ARTIFICIAL INTELLIGENCE
      I.2.9 Robotics
          Subjects: Sensors

Additional Classification:
  I. Computing Methodologies
  I.2 ARTIFICIAL INTELLIGENCE
        I.2.10 Vision and Scene Understanding
            Subjects: Representations, data structures, and transforms
      I.2.4 Knowledge Representation Formalisms and Methods
          Subjects: Representations (procedural and rule-based)
  I.4 IMAGE PROCESSING AND COMPUTER VISION
      I.4.8 Scene Analysis
          Subjects: Stereo

General Terms:
Algorithms, Design