Neural Sensor Fusion for Spatial Visualization on a Mobile Robot


Show simple item record Martens, Siegfried en_US Carpenter, Gail A. en_US Gaudiano, Paolo en_US 2011-11-14T19:07:58Z 2011-11-14T19:07:58Z 1998-08 en_US
dc.description.abstract An 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.sponsorship Office of Naval Research and Naval Research Laboratory (00014-96-1-0772, 00014-95-1-0409, 00014-95-0657) en_US
dc.language.iso en_US en_US
dc.publisher Boston University Center for Adaptive Systems and Department of Cognitive and Neural Systems en_US
dc.relation.ispartofseries BUCAS/CNS Technical Reports; BUCAS/CNS-TR-1998-028 en_US
dc.rights Copyright 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.subject Mobile robot
dc.subject Neural networks
dc.subject Sensor fusion
dc.subject Occupancy grid
dc.subject Sonar
dc.subject Range
dc.title Neural Sensor Fusion for Spatial Visualization on a Mobile Robot en_US
dc.type Technical Report en_US
dc.rights.holder Boston University Trustees en_US

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