Robot multi-sensor fusion and integration: optimum estimation of fused sensor data.
Journal
Proceedings of the 1988 IEEE International Conference on Robotics and Automation, Philadelphia, Pennsylvania, USA, April 24-29, 1988
Pages
1076-1081
Date Issued
1988
Author(s)
Lin, Min-Hsiung
Abstract
The authors address the problem of robot multisensor fusion and integration with special emphasis on optimal estimation of fused sensor data. The investigation is based on a Unimation PUMA 560 robot and various external sensors. These include overhead vision, eye-in-hand vision, proximity, tactile array, position, force/torque, crossfire, overload, and slip sensing devices. The efficient fusion of data from different sources will enable the machine to respond promptly in dealing with the real world. Towards this goal, the general paradigm of a sensor data fusion system has been developed, and some simulation results as well as results from the actual implementation of certain concepts of sensor data fusion have been demonstrated.>
Type
conference paper