%0 Journal Article
%T Mobile Robot Obstacle Detection and Environment Modeling with Sensor Fusion<br>基于多传感器信息融合的机器人障碍检测和环境建模
%A Wu Yongge
%A Huang Jiong
%A Yang Jingyu
%A <br>邬永革
%A 黄炯
%A 杨静宇
%J 自动化学报
%D 1997
%I 
%X In this paper, modeling 2 D environment and road detection for mobile robot by fusing color and range image information are discussed. The environment model is constructed using multiresolution 2 D grid representation, which is proved to be a better solution to the tradeoff between accuracy and computation speed. The fusion algorithm is designed with a generalized Dempster Shafer theory of evidence ( DSTE ), which is efficient in dealing with dependent information. The multisensor system and fusion algorithm are tested in real environment and their effectiveness is proved.
%K Mobile robot
%K environment modeling
%K obstacle detection
%K sensor fusion
%K theory of evidence<br>机器人
%K 环境建模
%K 障碍检测
%K 多传感器融合
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=D9C88FB093C9B40ABBC6A51266AA4EAE&yid=5370399DC954B911&vid=EA389574707BDED3&iid=94C357A881DFC066&sid=9A596D09E9486F3E&eid=421C41B8FD4D3EBA&journal_id=0254-4156&journal_name=自动化学报&referenced_num=7&reference_num=5