Model Update by Radar- and Video-based Perceptions of Environmental Variations

摘要

The design of mobile robots which can cope with unexpected disturbances like obstacles or misplaced objects is an active field of research. Such an autonomous robot assesses the situation by comparing data from its sensors with an internal model of its environment. In this paper we present an object-oriented geometric model and an exemplaric model update: A new object is detected by a radar sensor and identified using a video sensor. KEYWORDS: autonomous mobile robot, environmental modelling, microwave radar sensor INTRODUCTION This work is part of a research project 1 towards the development of autonomous mobile robots which can fulfil service and transport tasks in structured environments like office buildings and industrial plants. To be able to react to changes in its environment a robot has to survey its surroundings with one or more sensors. Based on the sensor data it updates an internal description (environmental or world model). This description includes the position of th...