Fusion of triangulated sonar plus infrared sensing for localization and mapping

@article{Vzquez2005FusionOT,
  title={Fusion of triangulated sonar plus infrared sensing for localization and mapping},
  author={J{\'o}se R. V{\'a}zquez and Chris Malcolm},
  journal={2005 International Conference on Control and Automation},
  year={2005},
  volume={2},
  pages={1097-1102 Vol. 2}
}
We present a novel approach that incorporates information from sonar and infrared sensors mounted on a rotating platform to obtain feature-based stochastic maps of the environment. The purpose is to reliably determine the position of a robot and the features in its environment using low cost sensors. Line and corner features are extracted from the sonar sensors by means of triangulation from multiple vantage points, while line features are extracted from the infrared sensors in separate… CONTINUE READING