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On covariances for fusing laser rangers and vision with sensors onboard a moving robot
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
Linköpings universitet.
1998 (English)In: Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems: Innovations in Theory, Practice and Applications, Piscataway, NJ: IEEE Communications Society, 1998, 1053-1059 p.Conference paper (Refereed)
Abstract [en]

Consider a robot to measure or operate on man made objects randomly located in the workspace. The optronic sensing onboard the robot are a scanning range measuring time-of-flight laser and a CCD camera. The goal of the paper is to give explicit covariance matrices for the extracted geometric primitives in the surrounding workspace. Emphasis is on correlation properties of the stochastic error models during motion. Topics studied include: (i) covariance of Radon/Hough peaks for plane surfaces; (ii) covariances for the intersection of two planes; (iii) equations for combining vision features, plane surfaces and range discontinuities; and (iv) explicit equations of how the covariance matrices are transformed during the robot motion. Typical applications are; models for verification and updating of CAD-models when navigating inside buildings and industrial plants, and accumulating sensor readings for a telecommanded robot

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 1998. 1053-1059 p.
Research subject
Industrial Electronics
URN: urn:nbn:se:ltu:diva-28072DOI: 10.1109/IROS.1998.727438Local ID: 1b932cf0-7cd5-11db-8824-000ea68e967bOAI: diva2:1001266
IEEE/RSJ International Conference on Intelligent Robots and Systems : 13/10/1998 - 17/10/1998
Godkänd; 1998; 20061125 (ysko)Available from: 2016-09-30 Created: 2016-09-30Bibliographically approved

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