传感器融合定位，地图和导航在室内环境

2014 International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management (HNICEM) Pub Date : 2014-11-01 DOI:10.1109/HNICEM.2014.7016188

T. Zhang, Z. J. Chong, B. Qin, J. Fu, S. Pendleton, M. Ang

{"title":"传感器融合定位，地图和导航在室内环境","authors":"T. Zhang, Z. J. Chong, B. Qin, J. Fu, S. Pendleton, M. Ang","doi":"10.1109/HNICEM.2014.7016188","DOIUrl":null,"url":null,"abstract":"This paper describes localization and navigation in an indoor environment with transparent objects. Although LIDAR proved to be a popular choice, its inability to detect glass surface requires another sensor to ensure navigation capability will work in all kind of environment. In this paper, sonar sensor is used in complement to laser due to its capability to detect hard surfaces and low cost. The experiment shows that a better map can be achieved when these two sensors are used.","PeriodicalId":309548,"journal":{"name":"2014 International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management (HNICEM)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"13","resultStr":"{\"title\":\"Sensor fusion for localization, mapping and navigation in an indoor environment\",\"authors\":\"T. Zhang, Z. J. Chong, B. Qin, J. Fu, S. Pendleton, M. Ang\",\"doi\":\"10.1109/HNICEM.2014.7016188\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper describes localization and navigation in an indoor environment with transparent objects. Although LIDAR proved to be a popular choice, its inability to detect glass surface requires another sensor to ensure navigation capability will work in all kind of environment. In this paper, sonar sensor is used in complement to laser due to its capability to detect hard surfaces and low cost. The experiment shows that a better map can be achieved when these two sensors are used.\",\"PeriodicalId\":309548,\"journal\":{\"name\":\"2014 International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management (HNICEM)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"13\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2014 International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management (HNICEM)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/HNICEM.2014.7016188\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management (HNICEM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/HNICEM.2014.7016188","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 13

摘要

本文描述了透明物体在室内环境下的定位与导航。尽管激光雷达被证明是一种受欢迎的选择，但它无法探测玻璃表面，需要另一个传感器来确保导航能力在各种环境下都能正常工作。在本文中，声纳传感器由于具有探测坚硬表面的能力和较低的成本，被用作激光的补充。实验表明，使用这两种传感器可以获得更好的地图。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Sensor fusion for localization, mapping and navigation in an indoor environment

This paper describes localization and navigation in an indoor environment with transparent objects. Although LIDAR proved to be a popular choice, its inability to detect glass surface requires another sensor to ensure navigation capability will work in all kind of environment. In this paper, sonar sensor is used in complement to laser due to its capability to detect hard surfaces and low cost. The experiment shows that a better map can be achieved when these two sensors are used.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2014 International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management (HNICEM)

自引率

0.00%

发文量