Fusion of Multiple Ultrasonic Sensor Data and Image Data for Measuring an Object’s Motion
Kazunori Umeda*, Jun Ota**, and Hisayuki Kimura***
*Dept. Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan
**Dept. of Precision Engineering, Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
***Kanagawa Prefectural Shoko Commercial and Technical High School, 743 Imai-cho, Hodogaya-ku, Yokohama 240-0035, Japan
Robot sensing requires two types of observation – intensive and wide-angle. We selected multiple ultrasonic sensors for intensive observation and an image sensor for wide-angle observation in measuring a moving object’s motion with sensors in two kinds of fusion – one fusing multiple ultrasonic sensor data and the other fusing the two types of sensor data. The fusion of multiple ultrasonic sensor data takes advantage of object movement from a measurement range of an ultrasonic sensor to another sensor’s range. They are formulated in a Kalman filter framework. Simulation and experiments demonstrate the effectiveness and applicability to an actual robot system.
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