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AGV Navigation Using a Space and Time Sensor Fusion of an Active Camera
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  • AGV Navigation Using a Space and Time Sensor Fusion of an Active Camera
  • AGV Navigation Using a Space and Time Sensor Fusion of an Active Camera
저자명
Jin. Tae-Seok,Lee. Bong-Ki,Lee. Jang-Myung
간행물명
한국항해항만학회지
권/호정보
2003년|27권 3호|pp.273-282 (10 pages)
발행정보
한국항해항만학회
파일정보
정기간행물|ENG|
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기타
이 논문은 한국과학기술정보연구원과 논문 연계를 통해 무료로 제공되는 원문입니다.
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기타언어초록

This paper proposes a sensor-fusion technique where rho data sets for the previous moments are properly transformed and fused into the current data sets to enable accurate measurement, such as, distance to an obstacle and location of the service robot itself. In the conventional fusion schemes, the measurement is dependent only on the current data sets. As the results, more of sensors are required to measure a certain physical promoter or to improve the accuracy of the measurement. However, in this approach, intend of adding more sensors to the system, the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is illustrated by examples md the effectiveness is proved through the simulation. Finally, the new space and time sensor fusion (STSF) scheme is applied to the control of a mobile robot in the indoor environment and the performance was demonstrated by the real experiments.