An Architecture of Sensor Fusion for Spatial Location of Objects in Mobile Robotics
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.
KeywordsMobile Robot Fuzzy Controller Perception System Sensor Fusion CMOS Camera
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