Sensor fusion-based line detection for unmanned navigation

摘要

We propose an algorithm of reliable detection of line for unmanned navigation of mobile robots using sensor fusion. To detect the distance and the angle between the robot and the line, we use a vision sensor system and a laser range finder (LRF). Each sensor system runs its own extended Kalman filter (EKF) to estimate the distance and orientation of the line. The vision system processes images being captured using well-known edge detection algorithms, and the LRF detects the line using the measurement of the intensity of the laser beam reflected. However, depending on the condition of the road and ambient light, each sensor gives us wrong measurement of the line or sometimes completely fails to detect it. To resolve such uncertainty, we develop a simple and easy-to-implement sensor fusion algorithm that uses weighted sum of the output of each EKF, and it gives us more reliable estimate of the distance and orientation of the line than each measurement/estimator system.