Improving robot's indoor navigation capabilities by integrating visual, sonar, and odometric measurements (original) (raw)

SPIE Proceedings, 1993

Abstract

In the framework of autonomous navigation, an application of Kalman filtering to the problem of multi-sensor information processing is presented. In particular, estimation of model parameters is considered when a mobile robot equipped with a set of sonars and a standard TV camera moves along corridors, and the environment is affected by sharp discontinuities due to the presence of recesses or protrusions. Experiments performed in real-world situations are also presented and discussed.

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