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Proceedings Paper

Improving robot's indoor navigation capabilities by integrating visual, sonar, and odometric measurements
Author(s): Tarcisio Coianiz; Marco Aste
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Paper Abstract

In the framework of autonomous navigation, an application of Kalman filtering to the problem of multi-sensor information processing is presented. In particular, estimation of model parameters is considered when a mobile robot equipped with a set of sonars and a standard TV camera moves along corridors, and the environment is affected by sharp discontinuities due to the presence of recesses or protrusions. Experiments performed in real-world situations are also presented and discussed.

Paper Details

Date Published: 20 August 1993
PDF: 11 pages
Proc. SPIE 2059, Sensor Fusion VI, (20 August 1993); doi: 10.1117/12.150258
Show Author Affiliations
Tarcisio Coianiz, Istituto la Ricerca Scientifica e Tecnologica (Italy)
Marco Aste, Istituto la Ricerca Scientifica e Tecnologica (Italy)

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

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