Advertisement

An Architecture of Sensor Fusion for Spatial Location of Objects in Mobile Robotics

  • Luciano Oliveira
  • Augusto Costa
  • Leizer Schnitman
  • J. Felippe Souza
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3808)

Abstract

Each part of a mobile robot has particular aspects of its own, which must be integrated in order to successfully conclude a specific task. Among these parts, sensing enables to construct a representation of landmarks of the surroundings with the goal of supplying relevant information for the robot’s navigation. The present work describes the architecture of a perception system based on data fusion from a CMOS camera and distance sensors. The aim of the proposed architecture is the spatial location of objects on a soccer field. An SVM is used for both recognition and object location and the process of fusion is made by means of a fuzzy system, using a TSK model.

Keywords

Mobile Robot Fuzzy Controller Perception System Sensor Fusion CMOS Camera 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Kortenkamp, D., Bonasso, R., Murphy, R.: Artificial Intelligence and Mobile Robots, Menlo Park (1998)Google Scholar
  2. 2.
    Vapnik, V.: The Nature of Statistical Learning Theory. Springer, Heidelberg (1995)zbMATHGoogle Scholar
  3. 3.
    Hall, D., Llinas, J.: Handbook of multisensor data fusion (2001)Google Scholar
  4. 4.
    Bruder, S., Faronq, M., Bayoumi, M.: Robotic heterogenous multi-sensor fusion with spatial and temporal alignment. In: Proceedings of the 30th IEEE Conference on Decision and Controle, pp. 506–511. IEEE, Los Alamitos (1991)CrossRefGoogle Scholar
  5. 5.
    Dasarathy, B.: Sensor fusion potential exploitation – innovative and illustrative applications. In: Proceedings of the IEEE Special Issue on Sensor Fusion, vol. 85, pp. 24–38. IEEE, Los Alamitos (1997)Google Scholar
  6. 6.
    Costa, A., Bittencourt, G.: From a concurrent architecture to a concurrent autonomous agent architecture. In: Veloso, M.M., Pagello, E., Kitano, H. (eds.) RoboCup 1999. LNCS (LNAI), vol. 1856, pp. 274–285. Springer, Heidelberg (2000)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Luciano Oliveira
    • 1
  • Augusto Costa
    • 1
  • Leizer Schnitman
    • 1
  • J. Felippe Souza
    • 2
  1. 1.Programme of Post-graduation in MechatronicsUniversidade Federal da BahiaBrasil
  2. 2.Universidade da Beira InteriorPortugal

Personalised recommendations