제목 Obstacle detection using multi-sensor fusion
저자명 Qing Lin,Hwaik Chung, Namki Lee,Youngjoon Han 

초   록

  This paper presents an obstacle detection approach for blind pedestrians by fusing data from camera
and laser sensor. For purely vision-based blind guidance system, it is difficult to discriminate low-level obstacles with cluttered road surface, while for purely laser-based system, it usually requires to scan the forward environment, which turns out to be very inconvenient. To overcome these inherent problems when using camera and laser sensor
independently, a sensor-fusion model is proposed to associate range data from laser domain with edges from
image domain. Based on this fusion model, obstacle's position, size and shape can be estimated. The proposed
method is tested in several indoor scenes, and its efficiency is confirmed.



원문 수록처 Journal of Measurement Science and Instrumentation
자료유형 International Journal