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Environment mapping using sensor fusion of 2d laser scanner and 3d ultrasonic sensor for a real mobile robot

Schnelle Fakten

  • Interne Autorenschaft

  • Weitere Publizierende

    Tien Tran, Damian Grzechca

  • Veröffentlichung

    • 2021
  • Zeitschrift/Zeitung

    Sensors (9)

  • Organisationseinheit

  • Fachgebiete

    • Ingenieurinformatik/Technische Informatik
    • Steuerungs-, Mess- und Regelungstechnik (elektrisch)
  • Format

    Journalartikel (Artikel)

Zitat

T. Tran, A. Becker, and D. Grzechca, “Environment mapping using sensor fusion of 2d laser scanner and 3d ultrasonic sensor for a real mobile robot,” Sensors, no. 9, 2021.

Abstract

Mapping the environment is necessary for navigation, planning and manipulation. In this paper, a fusion framework (as data-in-decision-out) is introduced for a 2D LIDAR and a 3D ultrasonic sensor to achieve three-dimensional mapping without expensive 3D LiDAR scanner or visual processing. Two sensor models are proposed for the two sensors used for map updating. Furthermore, 2D/3D map representations are discussed for our fusion approach. We also compare different probabilistic fusion methods and discuss criterias for choosing appropriate methods. Ex-periments are carried out with a real ground robot platform in an indoor environment. The 2D and 3D map results demonstrate that our approach is able to show the surrounding in more details. Sensor fusion provides a better estimation of the environment and the ego-pose whilst lowering the necessary resources. This gives the robot’s perception of the environment more information by using only one additional low-cost 3D ultrasonic sensor. This is especially important for robust and light-weight robots with limited resources.

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