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Building 3-D Visual Perception of a Mobile Robot Employing Extended Kalman Filter

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Abstract

The paper aims at designing a novel scheme for sensory data fusion by a mobile robot for reconstructing its 3-D world from their multiple gray images. Extended Kalman filter has been employed for determining the coordinates of the 3-D vertices and equation of the planes of the obstacles in the robot's workspace from their multiple images. The geometric relations among these 3-D planes are then determined by using a logic program for recognizing the obstacles. The time required for recognition of a typical planer obstacle such as a box on a Pentium-III client with 64 MB RAM and a Pioneer-2 type robot server including the time involvement for the motion of the robot around the obstacle is approximately 18 seconds.

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Authors and Affiliations

  1. Department of Electrical Engineering, University College of Engineering, Burla, 768 018, India

    Srikanta Patnaik

  2. Department of Electronics and Telecommunication Engineering, Jadavpur University, Calcutta, 700032, India

    Amit Konar & Ajit K. Mandal

Authors
  1. Srikanta Patnaik
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  2. Amit Konar
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  3. Ajit K. Mandal
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Patnaik, S., Konar, A. & Mandal, A.K. Building 3-D Visual Perception of a Mobile Robot Employing Extended Kalman Filter. Journal of Intelligent and Robotic Systems 34, 99–120 (2002). https://doi.org/10.1023/A:1015524102952

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  • DOI: https://doi.org/10.1023/A:1015524102952

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