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Proceedings Paper

Multiple unfused passive sensors for operating in busy indoor environments
Author(s): Masahide Konishi; Rodney A. Brooks
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Paper Abstract

We report on progress in using multiple passive sensors to allow a mobile robot to operate successfully in a people populated unstructured indoor environment. The robot locates, follows and approaches people using rotating pairs of passive pyro-electric sensors to determine range and heading of candidate people, using fixed pyro-electric sensors to locate rapidly moving people, and passive touch sensors to avoid local obstacles. The sensors feed directly into behavioral modules, rather than undergo a fusion process. Work is underway to integrate vision in a similar manner.

Paper Details

Date Published: 1 April 1991
PDF: 11 pages
Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); doi: 10.1117/12.25280
Show Author Affiliations
Masahide Konishi, Massachusetts Institute of Technology (United States)
Rodney A. Brooks, Massachusetts Institute of Technology (United States)

Published in SPIE Proceedings Vol. 1383:
Sensor Fusion III: 3D Perception and Recognition
Paul S. Schenker, Editor(s)

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