Active sensor fusion for mobile robot exploration and navigation

Robert Mandelbaum; Max Mintz

doi:10.1117/12.150231

20 August 1993 Active sensor fusion for mobile robot exploration and navigation

Robert Mandelbaum, Max Mintz

Proceedings Volume 2059, Sensor Fusion VI; (1993) https://doi.org/10.1117/12.150231
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

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.

Citation Download Citation

Robert Mandelbaum and Max Mintz "Active sensor fusion for mobile robot exploration and navigation", Proc. SPIE 2059, Sensor Fusion VI, (20 August 1993); https://doi.org/10.1117/12.150231

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available