| 基于信息融合的同时定位与地图创建研究 |
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| 引用本文： | 罗荣华,洪炳镕.基于信息融合的同时定位与地图创建研究[J].哈尔滨工业大学学报,2004,36(5):566-569. |
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| 作者姓名： | 罗荣华 洪炳镕 |
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| 作者单位： | 哈尔滨工业大学,计算机科学与技术学院,黑龙江,哈尔滨,150001;哈尔滨工业大学,计算机科学与技术学院,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家高技术研究发展计划资助项目(2001AA422270). |
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| 摘 要： | 针对在复杂环境中，由于传感数据的高度不确定性，采用声纳传感器进行移动机器人同时定位与地图创建的可靠性很低问题。对基于声纳信息与视觉信息相融合的SLAM进行了研究。利用Hough变换对声纳信息与视觉信息进行处理从中提取直线和点特征，并进行特征级的信息融合，从而充分利用声纳与视觉信息中的冗余信息。在移动机器人上的实验表明，多传器信息融合可以有效提高SLAM的准确度和鲁棒性。
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| 关 键 词： | 机器人定位 地图创建 信息融合 移动机器人 |
| 文章编号： | 0367-6234(2004)05-0566-04 |
| 修稿时间： | 2003年2月19日 |
Simultaneous localization and mapping based on multisensor fusion |
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| LUO Rong-hua,HONG Bing-rong.Simultaneous localization and mapping based on multisensor fusion[J].Journal of Harbin Institute of Technology,2004,36(5):566-569. |
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| Authors: | LUO Rong-hua HONG Bing-rong |
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| Abstract: | The reliability of simultaneous localization and mapping (SLAM) for mobile robots is low in dense environment due to the high ambiguity of the observed sensor data. A method based on fusion of sonar and vision information is studied to improve the performance of SLAM. Multi-sensor fusion is performed at the level of features, which are extracted from raw sonar data and vision image using Hough transform. Much attention is focused on the full use of redundant information from different sensors in this work. Experimentation with a mobile robot equipped with 16 sonar sensors and a color CCD is carried out, and the results show that multi-sensor fusion is an efficient way to improve the precision and robustness of SLAM. |
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| Keywords: | robot localization map building data fusion mobile robot |
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