TY - GEN
T1 - Multi-sensor Fusion Incorporating Adaptive Transformation for Reconfigurable Pavement Sweeping Robot
AU - Povendhan, A. P.
AU - Yi, Lim
AU - Hayat, A. A.
AU - Le, Anh Vu
AU - Kai, K. L.J.
AU - Ramalingam, B.
AU - Elara, M. R.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - An efficient sensors fusion framework in an autonomous robot is necessary for various functions like object detection and perception enhancement. Multi-sensor calibration techniques are used to fuse multiple static sensors into a single frame of reference. However, for reconfigurable robots, sensors can change pose during reconfiguration need a robust adaptive sensor fusion to account for the relative change in sensor position and orientation. We propose an adaptive sensor fusion framework that can be implemented on any reconfiguration robot to adjust calibration parameters. Our paper formulated an adaptive sensor fusion method, implemented it in real-time on an autonomous reconfigurable pavement sweeping robot called Panthera, and demonstrated qualitatively the accuracy of the proposed sensor fusion framework for environment perception during robot reconfiguring on the pavement.
AB - An efficient sensors fusion framework in an autonomous robot is necessary for various functions like object detection and perception enhancement. Multi-sensor calibration techniques are used to fuse multiple static sensors into a single frame of reference. However, for reconfigurable robots, sensors can change pose during reconfiguration need a robust adaptive sensor fusion to account for the relative change in sensor position and orientation. We propose an adaptive sensor fusion framework that can be implemented on any reconfiguration robot to adjust calibration parameters. Our paper formulated an adaptive sensor fusion method, implemented it in real-time on an autonomous reconfigurable pavement sweeping robot called Panthera, and demonstrated qualitatively the accuracy of the proposed sensor fusion framework for environment perception during robot reconfiguring on the pavement.
UR - https://www.scopus.com/pages/publications/85124337173
UR - https://www.scopus.com/inward/citedby.url?scp=85124337173&partnerID=8YFLogxK
U2 - 10.1109/IROS51168.2021.9636464
DO - 10.1109/IROS51168.2021.9636464
M3 - Conference contribution
AN - SCOPUS:85124337173
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 300
EP - 306
BT - 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Y2 - 27 September 2021 through 1 October 2021
ER -