Fusion of a color camera and rangefinder data by occupancy grids

Petr Stepan; Libor Preucil; Miroslav Kulich

doi:10.1117/12.498131

30 September 2003 Fusion of a color camera and rangefinder data by occupancy grids

Petr Stepan, Libor Preucil, Miroslav Kulich

Proceedings Volume 5083, Unmanned Ground Vehicle Technology V; (2003) https://doi.org/10.1117/12.498131
Event: AeroSense 2003, 2003, Orlando, Florida, United States

Abstract

The process how to acquire knowledge about the operating environment belongs to the most challenging problems that autonomous mobile robots solve. The quality of the model depends on a number and the art of sensors used and on a precision the robot knows its position in the environment. The occupancy grid belongs to the most common low-level models of the environment being considered for highly robust approach for fusion of noisy data and for fusion of data from different kinds of sensor. This paper primarily introduces a novel method for building an occupancy grid from a monocular color camera with its’ automatic calibration. The other part of the work describes a method for fusion of camera data with data from a sonar rangefinder. The presented methods were experimentally verified with an indoor experimental robot at the Czech Technical University facilities.

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Petr Stepan, Libor Preucil, and Miroslav Kulich "Fusion of a color camera and rangefinder data by occupancy grids", Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); https://doi.org/10.1117/12.498131

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KEYWORDS

Cameras

Sensors

Data fusion

Data modeling

Environmental sensing

Calibration

Content addressable memory

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