Sensor Fusion Model Research Articles

Multisensor perception system for environment modeling

In this paper the development of a multisensor perception system capable of being used by autonomous mobile robots is described. The objective of this system is to build and maintain an environment model suitable for different robot tasks (e.g., navigation, identification...). The system handles and associates information coming in from different sensors: Laser Range Finder and Stereo Vision. This paper will be focused on Sensor Fusion, Navigation Maps and 3D Modeling. The objects shown in the figures have been chosen to demonstrate the performances of the system in a structured indoor scene.