Multisensor fusion for simultaneous localization and map building
- 1 December 2001
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation
- Vol. 17 (6) , 908-914
Abstract
This paper describes how multisensor fusion increases both reliability and precision of the environmental observations used for the simultaneous localization and map-building problem for mobile robots. Multisensor fusion is performed at the level of landmarks, which represent sets of related and possibly correlated sensor observations. The work emphasizes the idea of partial redundancy due to the different nature of the information provided by different sensors. Experimentation with a mobile robot equipped with a multisensor system composed of a 2D laser rangefinder and a charge coupled device camera is reported.Keywords
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