A new multisensor fusion SLAM approach for mobile robots-一种新的移动机器人多传感器融合技术.pdfVIP

J Control Theory Appl 2009 7 (4) 389–394 DOI 10.1007/s11768-009-8102-6 A new multisensor fusion SLAM approach for mobile robots Fang FANG, Xudong MA, Xianzhong DAI, Kun QIAN (Key Laboratory of Measurement and Control of CSE, School of Automation, Southeast University, Nanjing Jiangsu 210096, China) Abstract: This paper presents a novel method, which enhances the use of external mechanisms by considering a multisensor system, composed of sonars and a CCD camera. Monocular vision provides redundant information about the location of the geometric entities detected by the sonar sensors. To reduce ambiguity significantly, an improved and more detailed sonar model is utilized. Moreover, Hough transform is used to extract features from raw sonar data and vision image. Information is fused at the level of features. This technique significantly improves the reliability and precision of the environment observations used for the simultaneous localization and map building problem for mobile robots. Experimental results validate the favorable performance of this approach. Keywords: Mobile robot; Simultaneous localization and map building; Multisensor fusion 1 Introduction This paper is organized as follows: Section 2 summarizes Simultaneous localization and mapping (SLAM) is the the feature extraction and multisensor fusion process to de- process that enables a mobile robot to localize and build a tect highly reliable features in the navigation area. Section map of an