Name
Title | ||
|---|---|---|
A comparison of two methods for fusing information from a linear array of sonar sensors for obstacle localization |
Abstract | ||
|---|---|---|
The performance of a commonly employed linear array of sonar sensors is assessed for point-obstacle localization intended for robotics applications. Two different methods of combining time-of-flight information from the sensors are described to estimate the range and azimuth of the obstacle: pairwise estimate method and the maximum likelihood estimator. The variances of the methods are compared to the Cramer-Rao lower bound, and their biases are investigated. Simulation studies indicate that in estimating range, both methods perform comparably; in estimating azimuth, maximum likelihood estimate is superior at a cost of extra computation. The results are useful for target localization in mobile robotics. |
Year | DOI | Venue |
|---|---|---|
1995 | 10.1109/IROS.1995.526268 | IROS (2) |
Keywords | Field | DocType |
pairwise estimate method,extra computation,mobile robotics,maximum likelihood estimator,maximum likelihood estimate,linear array,different method,target localization,sonar sensor,fusing information,robotics application,point-obstacle localization,mobile robots,sensor fusion,azimuth,testing,computational modeling,maximum likelihood estimation,time of flight,robots,mobile robot,cramer rao lower bound | Cramér–Rao bound,Computer vision,Pairwise comparison,Computer science,Azimuth,Sensor fusion,Sonar,Artificial intelligence,Robot,Sonar signal processing,Robotics | Conference |
ISBN | Citations | PageRank |
0-8186-7108-4 | 1 | 0.37 |
References | Authors | |
4 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| b arikan | 1 | 1 | 0.37 |
| Billur Barshan | 2 | 313 | 27.83 |