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Proceedings Paper

Multi-ultrasonic sensor fusion for autonomous mobile robots
Author(s): Zou Yi; Yeong Khing Ho; Chin Seng Chua; Xiao Wei Zhou
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Paper Abstract

Specular reflections from environments cause uncertainties to ultrasonic sensor range data. In this paper, we examine the application of evidential method for data integration using the specially designed sensor model to overcome the problem. Dempster's rule of combination is used to fuse the sensor data to obtain the map defined on a 2D evidence grid. The sensor model tries to reduce the uncertainties caused by specular reflections with a filtering factor. Experimental results have shown the usefulness of this method.

Paper Details

Date Published: 3 April 2000
PDF: 8 pages
Proc. SPIE 4051, Sensor Fusion: Architectures, Algorithms, and Applications IV, (3 April 2000); doi: 10.1117/12.381644
Show Author Affiliations
Zou Yi, Nanyang Technological Univ. (Singapore)
Yeong Khing Ho, Nanyang Technological Univ. (Singapore)
Chin Seng Chua, Nanyang Technological Univ. (Singapore)
Xiao Wei Zhou, Nanyang Technological Univ. (Singapore)

Published in SPIE Proceedings Vol. 4051:
Sensor Fusion: Architectures, Algorithms, and Applications IV
Belur V. Dasarathy, Editor(s)

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