Paper
30 September 2003 Fusion of a color camera and rangefinder data by occupancy grids
Petr Stepan, Libor Preucil, Miroslav Kulich
Author Affiliations +
Abstract
The process how to acquire knowledge about the operating environment belongs to the most challenging problems that autonomous mobile robots solve. The quality of the model depends on a number and the art of sensors used and on a precision the robot knows its position in the environment. The occupancy grid belongs to the most common low-level models of the environment being considered for highly robust approach for fusion of noisy data and for fusion of data from different kinds of sensor. This paper primarily introduces a novel method for building an occupancy grid from a monocular color camera with its’ automatic calibration. The other part of the work describes a method for fusion of camera data with data from a sonar rangefinder. The presented methods were experimentally verified with an indoor experimental robot at the Czech Technical University facilities.
© (2003) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Petr Stepan, Libor Preucil, and Miroslav Kulich "Fusion of a color camera and rangefinder data by occupancy grids", Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); https://doi.org/10.1117/12.498131
Advertisement
Advertisement
RIGHTS & PERMISSIONS
Get copyright permission  Get copyright permission on Copyright Marketplace
KEYWORDS
Cameras

Sensors

Data fusion

Data modeling

Environmental sensing

Calibration

Content addressable memory

Back to Top