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		Fang FANG,Xudong MA,Xianzhong DAI,Kun QIAN.[en_title][J].Control Theory and Technology,2009,7(4):389~394.[Copy]

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FangFANG,XudongMA,XianzhongDAI,KunQIAN
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Received:June 06, 2008Revised:April 08, 2009

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A new multisensor fusion SLAM approach for mobile robots

Fang FANG, Xudong MA, Xianzhong DAI, Kun QIAN

(Key Laboratory of Measurement and Control of CSE, School of Automation, Southeast University, Nanjing Jiangsu 210096, China)

Abstract:

This paper presents a novel method, which enhances the use of external mechanisms by considering a multisensor system, composed of sonars and a CCD camera. Monocular vision provides redundant information about the location of the geometric entities detected by the sonar sensors. To reduce ambiguity significantly, an improved and more detailed sonar model is utilized. Moreover, Hough transform is used to extract features from raw sonar data and vision image. Information is fused at the level of features. This technique significantly improves the reliability and precision of the environment observations used for the simultaneous localization and map building problem for mobile robots. Experimental results validate the favorable performance of this approach.

Key words: Mobile robot Simultaneous localization and map building Multisensor fusion