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Indoor mobile robot localization using probabilistic multi-sensor fusion

Ren C. Luo, Chun Chi Lai
2007 2007 IEEE Workshop on Advanced Robotics and Its Social Impacts  
Thus, multi-sensor fusion with a decision methodology is necessary for feasibility and reliability while service mobile robot is working in a compound indoor environment.  ...  This paper presents a probability fusion methodology with a decision rule for a feature extraction of indoor environment.  ...  The primary motivation is their low cost, small size and convenient calculation for Time of Flight (TOF).  ... 
doi:10.1109/arso.2007.4531415 fatcat:lhtsfhkzo5fgbkdmxfrqzmniry

SLAM in large indoor environments with low-cost, noisy, and sparse sonars

T.N. Yap, C.R. Shelton
2009 2009 IEEE International Conference on Robotics and Automation  
Little work has been done on the use of low-cost but noisy and sparse sonar sensors for SLAM in large indoor environments involving large loops.  ...  Simultaneous localization and mapping (SLAM) is a well-studied problem in mobile robotics.  ...  In this paper, we presented an approach to SLAM for a mobile robot equipped with low-cost but noisy and sparse sonar sensors navigating in large indoor environments involving large loops.  ... 
doi:10.1109/robot.2009.5152192 dblp:conf/icra/YapS09 fatcat:njcm3mbimvhrzkkm4wiofquy6i

Robotic Perception of the Sight and Touch to Interact with Environments

Pablo Gil, Youcef Mezouar, Markus Vincze, Juan A. Corrales
2016 Journal of Sensors  
Acknowledgments We wish to give thanks to the reviewers for their help in selecting papers for this special issue.  ...  Also, we would like to acknowledge all members of Editorial Board of Journal of Sensor for approving the publication of this special issue.  ...  The location and navigation problem has traditionally been addressed for land mobile robots in indoors and more recently for robots and autonomous vehicles in outdoors.  ... 
doi:10.1155/2016/1751205 fatcat:cwiac6e7ora6rjjmtevfuhp6me

Review Paper on Navigation System for Visually Impaired People
IJARCCE - Computer and Communication Engineering

Chaitali K. Lakde, Dr. Prakash S. Prasad
2015 IJARCCE  
Mobility of visually impaired people is restricted by their incapability to recognize their surroundings.  ...  The aim of this paper is to provide a better understanding to identify important research directions in this increasingly important social area for future research.  ...  Problems Faced by Visually Impaired People Traditionally white cane is the most popular, simplest tool for detecting obstacles due to its low cost, portability.  ... 
doi:10.17148/ijarcce.2015.4134 fatcat:xeukjfz2hfarzekszionry6xpi

Microcontroller based Navigation System for Visually Impaired People

Chaitali Kishor Lakde, Dr. Prakash S. Prasad
2015 IJARCCE  
Navigation assistance for visually impaired (NAVI) refers to systems that are capable to assist or guide people with vision loss, ranging from partially sighted to totally blind, by means of sound commands  ...  In other way creating a fusion of sensing technology and voice based guidance system some of the products were developed which could give better result than individual technology by the use of microcontroller  ...  LITERATURE REVIEW Traditionally white cane is the most popular, simplest tool for detecting obstacles due to its low cost, portability.  ... 
doi:10.17148/ijarcce.2015.4893 fatcat:ahuhxjkofrc4vltfaouu3ftvva

New Developments in Mobility and Orientation Aids for the Blind

John A. Brabyn
1982 IEEE Transactions on Biomedical Engineering  
Most aids developed previously fall into the category of "mobility aids" intended to sense obstacles in or near the traveler's immediate path.  ...  An overview of both early and recent developments in artificial aids for blind orientation and mobility is presented.  ...  Since a large number of transmitter units would be needed for coverage of a significant area by this navigation system, it is vital that the transmitter costs be held as low as possible.  ... 
doi:10.1109/tbme.1982.324945 pmid:6175559 fatcat:4tzrndrxzzdrllcmdnzci5dasq

Investigation of Widely Used SLAM Sensors Using Analytical Hierarchy Process

Muhammad Shahzad Alam Khan, Danish Hussain, Kanwal Naveed, Umar S. Khan, Imran Qayyum Mundial, Anas Bin Aqeel, Qiang Wu
2022 Journal of Sensors  
Accurate navigation of a mobile robot is highly significant for its uninterrupted operation.  ...  Simultaneous localization and mapping (SLAM) is one of the widely used techniques in mobile robots for localization and navigation.  ...  Muhammad Shahzad Alam Khan thanks NUST, for financial support for his MS degree.  ... 
doi:10.1155/2022/5428097 fatcat:6fq7f3ekybej5dfhvgpw42on5q

Development of Large-scale 3D Map Generation System for Indoor Autonomous Navigation Flight – Work in Progress

SungTae Moon, Wesub Eom, Hyunchul Gong
2015 Procedia Engineering  
In this paper, we introduce large-scale 3D map generation system in development for indoor autonomous navigation flight based on HectorSLAM which is available in ROS (Robot Operating System).  ...  In case of indoor environment which cannot support GPS information, SLAM is especially necessary to recognize current position.  ...  This enables the 9DOF Razor to be used as a very powerful control mechanism for UAVs, autonomous vehicles and image stabilization systems in spite of low cost.  ... 
doi:10.1016/j.proeng.2014.12.694 fatcat:t63dthauvzcmtlxkjjsgzwiboa

Height Measurement in Seamless Indoor/Outdoor Infrastructure-Free Navigation

Jesperi Rantanen, Laura Ruotsalainen, Martti Kirkko-Jaakkola, Maija Makela
2018 IEEE Transactions on Instrumentation and Measurement  
Second, we measure the effects of pressure shocks, caused by explosions or firearms, on low-cost and lightweight micro-electromechanical barometers to ensure that the sensors are capable of operating under  ...  Finally, we investigate the use of sonar measurement to estimate the vertical speed as an alternative to the reference barometer for infrastructure-free navigation.  ...  and low-cost MEMS barometer [17] . 0018 -9456 © 2018 IEEE.  ... 
doi:10.1109/tim.2018.2863978 fatcat:ujlu6lkcefblpgygygfj3bskpq

Sensor Technologies and Simultaneous Localization and Mapping (SLAM)

T.J. Chong, X.J. Tang, C.H. Leng, M. Yogeswaran, O.E. Ng, Y.Z. Chong
2015 Procedia Computer Science  
The review focuses on SLAM for mobile robots in a variety of environments.  ...  The strengths and weaknesses of acoustic modality sensors such as ultrasonic and sonar sensors, laser range finders, visual sensors such as stereo vision sensors, and RGB-D sensors like the Microsoft Kinect  ...  Acknowledgement(s) This research was supported by UTARRF(6200/Y34) grant provided by Universiti Tunku Abdul Rahman for the study on 'Multi-agent 3-Dimensional SLAM using Swarm Intelligence'.  ... 
doi:10.1016/j.procs.2015.12.336 fatcat:bcwr5hyy2rdabp4ptt3g5mdtem

Distance Measurement for Indoor Robotic Collectives [chapter]

Mihai V., Andrei Stancovici, Sinziana Indreic
2011 Mobile Robots - Control Architectures, Bio-Interfacing, Navigation, Multi Robot Motion Planning and Operator Training  
. independence of fixed landmarks, c. robustness and accuracy, d. energy efficiency, e. low cost and complexity.  ...  In this section we discuss some of the most prominent techniques which can be used for indoor robotic collectives.  ...  We have also shown how the CTOF method meets the requirements of indoor, low-cost, energy-efficient robotic applications, reaching an accuracy of 4.8 cm for d i s t a n c e s o f 3 m .  ... 
doi:10.5772/25810 fatcat:5whrl73llrf7phh24we3iacw54

HCI for Real world Applications

Sreeji C Sreeji C
2013 IOSR Journal of Computer Engineering  
Human-computer interaction (HCI) is necessary for different real world applications. Swarm robotics is an emerging technology in the real world.  ...  For sending messages Bluetooth technology can be used. Our goal is to make swarm robot to work effectively based on the gesture given.  ...  Compared with LRF, sonar and Ir are smaller and low cost. These merits can be directly connected with swarm organization of larger number of mobile robots.  ... 
doi:10.9790/0661-1117074 fatcat:r57323qeqjanrm7ofhpa66z2oi

Mobile robot obstacle avoidance via depth from focus

Illah R. Nourbakhsh, David Andre, Carlo Tomasi, Michael R. Genesereth
1997 Robotics and Autonomous Systems  
We describe an implementation of this vision system on a mobile robot as well as realworld experiments both indoors and outdoors.  ...  A critical challenge in the creation of autonomous mobile robots is the reliable detection of moving and static obstacles.  ...  range, high reliability, and low computational cost.  ... 
doi:10.1016/s0921-8890(97)00051-1 fatcat:64nklvzaorcetfctu5yfy27osa

Electronic Guidance Cane for Users Having Partial Vision Loss Disability

Asad Khan, Muhammad Awais Ashraf, Muhammad Awais Javeed, Muhammad Shahzad Sarfraz, Asad Ullah, Muhammad Mehran Arshad Khan, Mamoun Alazab
2021 Wireless Communications and Mobile Computing  
The designed embedded system includes a cane, a microcontroller, Global System for Mobile Communication (GSM), Global Positioning System (GPS) module, Arduino, a speech output module speaker, Light-Dependent  ...  Additionally, none of them have shown perfect results in both indoor and outdoor activities. Additionally, the problems become even more severe when the subject/the people are partially deaf as well.  ...  In this study, the authors have designed a low-cost system. Therefore, the system has various productive functions.  ... 
doi:10.1155/2021/1628996 fatcat:m2h5rfxkrjdxnmaupdzwlzbkyy

Using occupancy grids for mobile robot perception and navigation

A. Elfes
1989 Computer  
I wish to acknowledge Hans Mordvec for his support and suggestions concerning this work.  ...  Acknowledgments The research discussed in this article was performed when I was with the Mobile Robot Lab, Robotics Institute. Carnegie Mellon University.  ...  For indoor runs, a mobile robot called Neptune was used (see Figure 7 ) ; outdoor runs were performed with a larger robot vehicle called the Terregator.  ... 
doi:10.1109/2.30720 fatcat:5cjilgx6rvcbjewnxw7coacdm4
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