Autonomous homing based on laser-camera fusion system
- Title
- Autonomous homing based on laser-camera fusion system
- Authors
- Choi, Dong-Geol; Shim, Inwook; Bok, Yunsu; Oh, Tae-Hyun; Kweon, In So
- Date Issued
- 2012-10-07
- Publisher
- IEEE Robotics and Automation Society
- Abstract
- Building maps of unknown environments is a critical factor for autonomous navigation and homing, and this problem is especially challenging in large-scale environments. Recently, sensor fusion systems such as combinations of cameras and laser sensors have become popular in the effort to ensure a general level of performance in this task. In this paper, we present a new homing method in a large-scale environment using a laser-camera fusion system. Instead of fusing data to form a single map builder, we adaptively select sensor data to handle environments which contain ambiguity. For autonomous homing, we propose a new mapping strategy for building a hybrid map and a return strategy for selecting the next target waypoints efficiently. The experimental results demonstrate that the proposed algorithm enables the autonomous homing of a robot in a large-scale indoor environments in real time. © 2012 IEEE.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/117040
- Article Type
- Conference
- Citation
- 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, page. 2512 - 2518, 2012-10-07
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