Referenced Items are not available for this document.
This paper describes how multisensor fusion increases both reliability and precision of the environmental observations used for the simultaneous localization and map-building problem for mobile robots. Multisensor fusion is performed at the level of landmarks, which represent sets of related and possibly correlated sensor observations. The work emphasizes the idea of partial redundancy due to the different nature of the information provided by different sensors. Experimentation with a mobile robot equipped with a multisensor system composed of a 2D laser rangefinder and a charge coupled device camera is reported
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:17
,
Issue:
6
)
Date of Publication: Dec 2001
- Page(s):
- 908 - 914
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 7159293
- Digital Object Identifier :
- 10.1109/70.976024
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Dec 2001
- Sponsored by :
- IEEE Robotics and Automation Society
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