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Proceedings Paper

Active sensor fusion for mobile robot exploration and navigation
Author(s): Robert Mandelbaum; Max Mintz
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Paper Abstract

In this paper we present a paradigm for active sensor fusion and feature integration for the purposes of exploration of a static environment, and subsequent navigation therein. We describe the feature grid representation of the environment which is extensible to a wide range of sensor modalities, allows efficient access of information, and supports inter-agent cooperation. In particular, we have developed a testbed with which we investigate the fusion of data from acoustic range sensors with data from a structured-light sensor capable of delineating object extent. The acoustic sensors are employed for primary detection and localization of an object, as well as for extraction of geometric features such as planar surfaces and corners. Once an object has been identified, an active sensing strategy is invoked, causing the mobile robot to follow a trajectory which brings the object into view of the structured-light sensor. In this way, relatively accurate information can be accumulated regarding object position, extent and orientation.

Paper Details

Date Published: 20 August 1993
PDF: 12 pages
Proc. SPIE 2059, Sensor Fusion VI, (20 August 1993); doi: 10.1117/12.150231
Show Author Affiliations
Robert Mandelbaum, Univ. of Pennsylvania (United States)
Max Mintz, Univ. of Pennsylvania (United States)

Published in SPIE Proceedings Vol. 2059:
Sensor Fusion VI
Paul S. Schenker, Editor(s)

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