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dc.contributor.authorMartens, Siegfrieden_US
dc.contributor.authorCarpenter, Gail A.en_US
dc.contributor.authorGaudiano, Paoloen_US
dc.date.accessioned2011-11-14T19:07:58Z
dc.date.available2011-11-14T19:07:58Z
dc.date.issued1998-08en_US
dc.identifier.urihttp://hdl.handle.net/2144/2362
dc.description.abstractAn ARTMAP neural network is used to integrate visual information and ultrasonic sensory information on a B 14 mobile robot. Training samples for the neural network are acquired without human intervention. Sensory snapshots are retrospectively associated with the distance to the wall, provided by on~ board odomctry as the robot travels in a straight line. The goal is to produce a more accurate measure of distance than is provided by the raw sensors. The neural network effectively combines sensory sources both within and between modalities. The improved distance percept is used to produce occupancy grid visualizations of the robot's environment. The maps produced point to specific problems of raw sensory information processing and demonstrate the benefits of using a neural network system for sensor fusion.en_US
dc.description.sponsorshipOffice of Naval Research and Naval Research Laboratory (00014-96-1-0772, 00014-95-1-0409, 00014-95-0657)en_US
dc.language.isoen_USen_US
dc.publisherBoston University Center for Adaptive Systems and Department of Cognitive and Neural Systemsen_US
dc.relation.ispartofseriesBUCAS/CNS Technical Reports; BUCAS/CNS-TR-1998-028en_US
dc.rightsCopyright 1998 Boston University. Permission to copy without fee all or part of this material is granted provided that: 1. The copies are not made or distributed for direct commercial advantage; 2. the report title, author, document number, and release date appear, and notice is given that copying is by permission of BOSTON UNIVERSITY TRUSTEES. To copy otherwise, or to republish, requires a fee and / or special permission.en_US
dc.subjectMobile robot
dc.subjectNeural networks
dc.subjectSensor fusion
dc.subjectOccupancy grid
dc.subjectSonar
dc.subjectRange
dc.titleNeural Sensor Fusion for Spatial Visualization on a Mobile Roboten_US
dc.typeTechnical Reporten_US
dc.rights.holderBoston University Trusteesen_US


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