Sensor fusion for localization, mapping and navigation in an indoor environment
Sensor fusion for localization, mapping and navigation in an indoor environment
复制标题
用于室内环境中的定位、绘图和导航的传感器融合
DOI：
10.1109/hnicem.2014.7016188
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
M. Ang
中科院分区：
文献类型：
--
作者：
T. Zhang;Z. J. Chong;B. Qin;J. Fu;S. Pendleton;M. Ang
本文介绍了在室内环境中的透明物体的定位和导航。虽然激光雷达被证明是一个受欢迎的选择，但它无法检测玻璃表面，需要另一个传感器来确保导航能力在各种环境下都能工作。本文采用声纳传感器作为激光探测的补充，因为声纳传感器具有探测硬表面的能力，而且成本低。实验结果表明，这两种传感器的组合可以获得较好的图像。
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.