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.

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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

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