Bayesian sensor fusion of monocular vision and laser structured light sensor for robust localization of a mobile robot

Journal of Institute of Control, Robotics and Systems

Volumn 16, Issue 4, 2010, Pages 381-390

  Kim, Min Young ^a   Ahn, Sang Tae ^a   Cho, Hyungsuck ^a  

^a NONE

Author keywords

Environmental features; Laser vision sensor; Mobile robot localization; Monocular vision; Sensor fusion

Indexed keywords

ENVIRONMENTAL FEATURES; LASER VISION; MOBILE ROBOT LOCALIZATION; MONOCULAR VISION; SENSOR FUSION;

CAMERAS; COMPUTER VISION; EXPERIMENTS; MOBILE ROBOTS; ROBOT APPLICATIONS; VISION;

SENSORS;

EID: 84860800391     PISSN: 19765622     EISSN: None     Source Type: Journal    
DOI: 10.5302/J.ICROS.2010.16.4.381     Document Type: Article

References (18)

1. H. J. Sohn and B. K. Kim, "A robust localization algorithm for mobile robots with laser range finders," Proc. of 2005 IEEE ICRA, pp. 3545 - 3550, 2005.
2. D. Brscic and H. Hashimoto, "Model based robot localization using onboard and distributed laser range finders," Proc. of 2008 IEE/RSJ IROS, pp. 1154-1159, 2008.
3. D. M. Cole and P. M. Newman, "Using laser range data for 3D SLAM in outdoor environments," Proc. of 2006 IEEE ICRA, pp. 1556-1563, 2006.
4. M. Jung, H. Myung, H. Lee, and S. Bang, "Ambiguity resolving in structured light 2D range finder for SLAM operation for home robot applications," Proc. of 2005 IEEE Workshop on Advanced Robotics and its Social Impacts, pp. 18-23, 2005.
5. Korean source, 2003.
6. M. H. Kim, S. C. Lee, and K. H. Lee, "Self-localization of mobile robot with single camera in corridor environment," Proc. of 2001 IEEE International Symposium on Industrial Electronics, vol. 3, pp. 12-16, 2001.
7. M. Zaman, "High precision relative localization using a single camera," Proc. of 2007 IEEE ICRA, pp. 3908-3914, 2007.
8. A. J. Davison, I. D. Reid, N. D. Molton, and O. Stasse, "Mono SLAM: Real-Time Single Camera SLAM," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 29, no. 6, pp. 1052-1067, 2007.
9. O. Wijk and H. I. Christensen, "Localization and navigation of a mobile robot using natural point landmarks extracted from sonar data," Robotics and Autonomous Systems, 31, pp. 31-42, 2000.
10. H. Kim, J. Choi, and M. Park, "Indoor localization system using multi-modulation of ultrasonic sensors and digital compass," Proc. of 2008 IEE/RSJ IROS, pp. 1359-1364, 2008.
11. A. Burguera, G. Oliver, and J. D. Tardos, "Robust scan matching localization using ultrasonic range finders," Proc. of 2005IEEE/RSJ IROS, pp. 1367-1372, 2005.
12. rd European Workshop on Advanced Mobile Robots, pp. 177-185, 6-8, September 1999.
13. Korean source, 2000.
14. A. Diosi and L. Kleeman, "Advanced sonar and laser range finder fusion for simultaneous localization and mapping," Proc. of 2004 IEEE/RSJ IROS, pp. 1854-1859, 2004.
15. K. O. Arras, N. Tomatis, B. T. Jensen, and R. Siegwart, "Multisensor on-the-fly localization: Precision and reliability for applications," Robotics and Autonomous Systems, vol. 34, no. 2-3, pp. 131-143, 2001.
16. K. Sugihara, "Some location problems for robot navigation using a single camera," Computer vision, graphics, and image processing 42, pp. 112-129, 1988.
17. L. A. Klein, Sensor and Data Fusion: A Tool for Information Assessment and Decision Making, vol. PM138, SPIE Publications, 2004.
18. J. K. Hackett and M. Shah., "Multi-sensor fusion: a perspective," Proc. of IEEE Int. Conf. Robotics and Automation, pp. 1324-1330, 1990.