Neural sensor fusion for spatial visualization on a mobile robot

Author(s): Carpenter, G.A. | Gaudiano, P. | Martens, S. |

Year: 1998

Citation: Proceedings of the SPIE International Symposium on Intelligent Systems and Advanced Manufacturing (Boston, November, 1998)

Abstract: An ARTMAP neural network is used to integrate visual information and ultrasonic sensory information on a B14 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 odometry 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.

Topics: Image Analysis, Robotics, Applications: Remote Sensing, Models: ARTMAP,

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