Open AccessAn Architecture of Sensor Fusion for Spatial Location of Objects in Mobile Robotics
Author(s) -
Luciano Oliveira,
Augusto Loureiro da Costa,
Leizer Schnitman,
J.F. De Souza
Publication year - 2005
Publication title -
lecture notes in computer science
Language(s) - English
Resource type - Book series
SCImago Journal Rank - 0.249
H-Index - 400
eISSN - 1611-3349
pISSN - 0302-9743
ISBN - 3-540-30737-0
DOI - 10.1007/11595014_46
Subject(s) - computer science , artificial intelligence , mobile robot , computer vision , robotics , construct (python library) , architecture , sensor fusion , robot , spatial analysis , field (mathematics) , process (computing) , object (grammar) , fuzzy logic , representation (politics) , task (project management) , geography , engineering , remote sensing , mathematics , politics , pure mathematics , political science , law , programming language , operating system , archaeology , systems engineering
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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