Evaluation of grid-map sensor fusion mapping algorithms

@article{Kapach2007EvaluationOG,
  title={Evaluation of grid-map sensor fusion mapping algorithms},
  author={Keren Kapach and Yael Edan},
  journal={2007 IEEE International Conference on Systems, Man and Cybernetics},
  year={2007},
  pages={829-834}
}
This paper presents a thorough evaluation of grid map based sensor fusion algorithms for mapping the environment of a mobile robot. Three physical sensors were used for creating the grid maps: a CCD camera, a set of ultrasonic sensors and a laser rangefinder. An adaptive fuzzy logic algorithm was compared to three logical sensor fusion algorithms. Results indicate the superiority of the adaptive fuzzy logic algorithm with a 0.075 confidence level. 

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