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.

• Type: Conference
• Year: 2005
• Where: EPIA
• Authors: Luciano Oliveira, Augusto Costa, Leizer Schnitman, Jose A. M. Felippe de Souza
• Keywords: EPIA 2005, Mobile Robot, Particular Aspects, Robot’s Navigation