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.
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© 2005 Springer-Verlag Berlin Heidelberg
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Oliveira, L., Costa, A., Schnitman, L., Souza, J.F. (2005). An Architecture of Sensor Fusion for Spatial Location of Objects in Mobile Robotics. In: Bento, C., Cardoso, A., Dias, G. (eds) Progress in Artificial Intelligence. EPIA 2005. Lecture Notes in Computer Science(), vol 3808. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11595014_46
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DOI: https://doi.org/10.1007/11595014_46
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-30737-2
Online ISBN: 978-3-540-31646-6
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