What question did this study set out to answer?

Develop a cellular occupancy grid representation that integrates noisy range measurements from sonar and stereo sensors into a unified map for mobile robot navigation.

December 1, 1987

Sensor integration for robot navigation: Combining sonar and stereo range data in a grid-based representataion

View Full Paper

Ask AI

Bookmark

Develop a cellular occupancy grid representation that integrates noisy range measurements from sonar and stereo sensors into a unified map for mobile robot navigation.
Represented the robot environment as a two-dimensional cellular grid where each cell stores a probability of being empty or occupied.
Formulated sensor models that explicitly capture geometric and measurement uncertainties from sonar and one-dimensional stereo vision.
Applied a recursive Bayesian estimation scheme to integrate successive range readings across multiple robot positions into the global grid.
Established a uniform cellular framework capable of fusing disparate sensor modalities without altering the underlying spatial representation.
Successfully mitigated measurement noise and robot positional uncertainty to produce consistent, detailed environmental maps.
Provided an operational mapping substrate suitable for mobile robot path planning and higher-level geometric object reconstruction.

Discussion

No takes yet. Share an insight, caveat, or question.

Implication

Algorithmic framework demonstrates unified probabilistic mapping using sonar and stereo data in mobile robots, suggesting improved sensor integration under uncertainty.

Cite This Study

Elfes et al. (1987) studied this question.

synapsesocial.com/papers/6a0e39fdfeb2455d62c83c0c https://doi.org/10.1109/cdc.1987.272800

View Full Paper

Ask AI

Bookmark

Implication

Algorithmic framework demonstrates unified probabilistic mapping using sonar and stereo data in mobile robots, suggesting improved sensor integration under uncertainty.

Sensor integration for robot navigation: Combining sonar and stereo range data in a grid-based representataion

Key Points

Discussion

Implication

Cite This Study

Sensor integration for robot navigation: Combining sonar and stereo range data in a grid-based representataion

Key Points

Discussion

Implication

Cite This Study

Also Consider

Also Consider