Triangulation & Hough Transform Based Fusion ofSonar Data for Mobile Robotics

摘要：

Polaroid sonar sensors are still one of the most widely used sensors in mobile robotics. In this paper a novel sensor fusion scheme called THF (Triangulation Hough Fusion), which combines the advantages of TBF (Triangulation Based Fusion) and CIHT (Cluster Inhibiting Hough Transform), is presented. The idea of THF lies in that a modified Hough transform is employed on the points extracted by TBF, not on the raw sonar data directly. THF algorithm applied on clustered and noisy sonar data could reliably detect both point and line segment features of the environment. We demonstrate the effectivity of THF algorithm by extracting geometric features in a simulated indoor environment, in which a mobile robot travels with pedestrians moving around casually. Experiments demonstrate that THF is an effective and efficient scheme for detecting both point features and line segment features, especially in the structured environment.

关键词： sensor fusion sonar mobile robot feature point line segment.

作者: Baolong LIU Bo HE Yongqing WANG Xuan ZHAO Lei GUO

作者单位: Ocean University of China, China

会议类型: 国际会议

会议名称: 2nd IEEE Conference on Industrial Electronics and Applications(ICIEA 2007)(第二届IEEE工业电子与应用国际会议)

会议地点: 哈尔滨

会议语种:英文

在线出版日期: 2007-05-23（万方平台首次上网日期，不代表论文的发表时间）