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Sensors 2012, 12(4), 3868-3878; doi:10.3390/s120403868
Article

Improvement of KinectTM Sensor Capabilities by Fusion with Laser Sensing Data Using Octree

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Received: 21 January 2012 / Revised: 20 February 2012 / Accepted: 21 February 2012 / Published: 26 March 2012
(This article belongs to the Special Issue Collaborative Sensors)
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Abstract

To enhance sensor capabilities, sensor data readings from different modalities must be fused. The main contribution of this paper is to present a sensor data fusion approach that can reduce KinectTM sensor limitations. This approach involves combining laser with KinectTM sensors. Sensor data is modelled in a 3D environment based on octrees using a probabilistic occupancy estimation. The Bayesian method, which takes into account the uncertainty inherent in the sensor measurements, is used to fuse the sensor information and update the 3D octree map. The sensor fusion yields a significant increase of the field of view of the KinectTM sensor that can be used for robot tasks.
Keywords: sensor fusion; laser; KinectTM ; 3D octree map; collaboration sensor fusion; laser; KinectTM; 3D octree map; collaboration
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Chávez, A.; Karstoft, H. Improvement of KinectTM Sensor Capabilities by Fusion with Laser Sensing Data Using Octree. Sensors 2012, 12, 3868-3878.

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