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  
This paper presents a probability fusion methodology with a decision rule for a feature extraction of indoor environment. Two range sensors with complementary property are equipped on a mobile service robot. One is a servo sonar ring composed by Polaroid 6500 ultrasonic rangers and the other is a Hokuyo infrared range-finder. For a real indoor environment is usually composed of different objects with variant material characteristics such as sound absorbed or light refraction. Theses may cause
more » ... e sensor measurement failure to imperil the localization estimation procedure of an indoor service robot. 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.
doi:10.1109/arso.2007.4531415 fatcat:lhtsfhkzo5fgbkdmxfrqzmniry