Triangulation Based Fusion of Ultrasonic Sensor Data
Olle Wijk, Patric Jensfelt and Henrik I. Christensen
Abstract
Ultrasonic sensors are still one of the most widely used sensors in
mobile robotics. A notorious problem in the use of sonar data is the
lack of good spatial resolution, which typically results in a high
uncertainty in the resulting map of the environment. In the paper a
triangulation technique is used for filtering of data so as to obtain
an improved grid map of the environment. The basic technique is
described and it is outlined how it can be used for identification of
natural landmarks.
BibTeX Entry:
@InProceedings{Wijk98a,
author = {Olle Wijk and Patric Jensfelt and Henrik Christensen},
title = {Triangulation Based Fusion of Ultrasonic Sensor Data},
booktitle = In Proc. of International Conference on Robotics and Automation,
pages = {3419--24},
year = 1998,
volume = 4,
address = {Leuven, Belgium},
month = may,
organization = IEEE
}
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