Publication: Adaptive sensor-fusion of depth and color information for cognitive robotics
Loading...
Identifiers
Publication date
2011
Defense date
Authors
Advisors
Tutors
Journal Title
Journal ISSN
Volume Title
Publisher
IEEE
Abstract
The presented work goes one step further than
only combining data from different sensors. The corresponding
points of an image and a 3D point cloud are determined through
calibration. Color information is thereby assigned to every voxel
in the overlapping area of a stereo camera system and a laser
range finder. Then we analyze the image and search for the
locations, which are especially susceptible to errors by both
sensors. Depending on the ascertained situation, we try to
correct or minimize errors. By analyzing and interpreting the
images as well as removing errors we create an adaptive tool
which improves multi-sensor fusion. This allows us to correct
the fused data and to perfect the multi-modal sensor fusion
or to predict the locations where the sensor information is
vague or defective. The presented results demonstrate a clear
improvement over standard procedures and show that other
progress based on our work is possible.
Description
Proceedings of: 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), December 7-11, 2011, Phuket (Thailand)
Keywords
Bibliographic citation
2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 2011. Pp. 957 - 962