Dual-sensor fusion for obstacle avoidance in indoor environment

Jiann Der Lee; Zih Yang Dang

doi:10.1109/ARIS.2015.7158357

Dual-sensor fusion for obstacle avoidance in indoor environment

Jiann Der Lee
, Zih Yang Dang

Department of Electrical Engineering

Chang Gung University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This paper presents a real-time automatic obstacle avoidance system using depth information and sonar data. The depth map is provided by Microsoft Kinect and sonar data are obtained from sonar sensors. With fusion of weighted depth information and sonar data, a set of intelligent fuzzy rules are designed to construct a safe path to avoid obstacles in indoor environment. According to the experimental results, this system has good performance while compared with the previous approaches and can work in dark environment. According to the experimental results, this system has good performance while compared with the previous approaches and can work in unfamiliar environment.

Original language	English
Title of host publication	2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781479918515
DOIs	https://doi.org/10.1109/ARIS.2015.7158357
State	Published - 2015
Event	International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015 - Taipei, Taiwan Duration: 29 05 2015 → 31 05 2015

Publication series

Name	2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015

Conference

Conference	International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015
Country/Territory	Taiwan
City	Taipei
Period	29/05/15 → 31/05/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Access to Document

10.1109/ARIS.2015.7158357

Cite this

Lee, J. D., & Dang, Z. Y. (2015). Dual-sensor fusion for obstacle avoidance in indoor environment. In 2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015 Article 7158357 (2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ARIS.2015.7158357

@inproceedings{5d04067a12e94d7b9cb8ae23714bb382,

title = "Dual-sensor fusion for obstacle avoidance in indoor environment",

abstract = "This paper presents a real-time automatic obstacle avoidance system using depth information and sonar data. The depth map is provided by Microsoft Kinect and sonar data are obtained from sonar sensors. With fusion of weighted depth information and sonar data, a set of intelligent fuzzy rules are designed to construct a safe path to avoid obstacles in indoor environment. According to the experimental results, this system has good performance while compared with the previous approaches and can work in dark environment. According to the experimental results, this system has good performance while compared with the previous approaches and can work in unfamiliar environment.",

author = "Lee, \{Jiann Der\} and Dang, \{Zih Yang\}",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015 ; Conference date: 29-05-2015 Through 31-05-2015",

year = "2015",

doi = "10.1109/ARIS.2015.7158357",

language = "英语",

series = "2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015",

address = "美国",

}

Lee, JD & Dang, ZY 2015, Dual-sensor fusion for obstacle avoidance in indoor environment. in 2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015., 7158357, 2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015, Institute of Electrical and Electronics Engineers Inc., International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015, Taipei, Taiwan, 29/05/15. https://doi.org/10.1109/ARIS.2015.7158357

Dual-sensor fusion for obstacle avoidance in indoor environment. / Lee, Jiann Der; Dang, Zih Yang.
2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015. Institute of Electrical and Electronics Engineers Inc., 2015. 7158357 (2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Lee, Jiann Der

AU - Dang, Zih Yang

PY - 2015

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N2 - This paper presents a real-time automatic obstacle avoidance system using depth information and sonar data. The depth map is provided by Microsoft Kinect and sonar data are obtained from sonar sensors. With fusion of weighted depth information and sonar data, a set of intelligent fuzzy rules are designed to construct a safe path to avoid obstacles in indoor environment. According to the experimental results, this system has good performance while compared with the previous approaches and can work in dark environment. According to the experimental results, this system has good performance while compared with the previous approaches and can work in unfamiliar environment.

AB - This paper presents a real-time automatic obstacle avoidance system using depth information and sonar data. The depth map is provided by Microsoft Kinect and sonar data are obtained from sonar sensors. With fusion of weighted depth information and sonar data, a set of intelligent fuzzy rules are designed to construct a safe path to avoid obstacles in indoor environment. According to the experimental results, this system has good performance while compared with the previous approaches and can work in dark environment. According to the experimental results, this system has good performance while compared with the previous approaches and can work in unfamiliar environment.

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T3 - 2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015

BT - 2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015

Y2 - 29 May 2015 through 31 May 2015

ER -

Dual-sensor fusion for obstacle avoidance in indoor environment

Abstract

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