Multi-sensor Fusion Glass Detection for Robot Navigation and Mapping | |
Hao Wei1,2; Xue-en Li1; Ying Shi1; Bo You1; Yi Xu1 | |
2018 | |
会议日期 | 2018-8-16 |
会议地点 | Beijing,China |
关键词 | Robot Navigation And Mapping Multi-sensor Fusion |
DOI | 10.1109/WRC-SARA.2018.8584213 |
页码 | 184-188 |
英文摘要 | Simultaneous Localization and Mapping(SLAM) has become an essential function of the robot, but existing SLAM algorithms cannot work robustly and stably in a glass environment, especially when using low cost sensors. In this paper, we propose an efficient and robust method to detect glass based on multi-sensor fusion technology of ultrasonic and laser scan data. By integrating the glass detection algorithm with SLAM, we have improved an existing SLAM algorithm to provide more accurate mapping and localization results. On this basis, we proposed a new robot navigation method and experimented on the robot platform, the experiments show that the new navigation frame increased robot navigation efficiency by 11% in glass environment. |
语种 | 英语 |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/23686] |
专题 | 数字内容技术与服务研究中心_听觉模型与认知计算 |
通讯作者 | Hao Wei |
作者单位 | 1.中国科学院自动化研究所 2.中国科学院大学 |
推荐引用方式 GB/T 7714 | Hao Wei,Xue-en Li,Ying Shi,et al. Multi-sensor Fusion Glass Detection for Robot Navigation and Mapping[C]. 见:. Beijing,China. 2018-8-16. |
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