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Open AccessArticle

Environment Mapping Using Sensor Fusion of 2D Laser Scanner and 3D Ultrasonic Sensor for a Real Mobile Robot

1
Faculty of Information Technology, Dortmund University of Applied Science and Arts, Sonnenstr. 96, 44139 Dortmund, Germany
2
Department of Electronics, Electrical Engineering and Microelectronics, Silesian University of Technology, Akademicka 16, 44-100 Gliwice, Poland
*
Author to whom correspondence should be addressed.
Academic Editor: Pierre Grussenmeyer
Sensors 2021, 21(9), 3184; https://doi.org/10.3390/s21093184
Received: 1 April 2021 / Revised: 19 April 2021 / Accepted: 29 April 2021 / Published: 4 May 2021
Mapping the environment is necessary for navigation, planning and manipulation. In this paper, a fusion framework (as data-in-decision-out) is introduced for a 2D LIDAR and a 3D ultrasonic sensor to achieve three-dimensional mapping without expensive 3D LiDAR scanner or visual processing. Two sensor models are proposed for the two sensors used for map updating. Furthermore, 2D/3D map representations are discussed for our fusion approach. We also compare different probabilistic fusion methods and discuss criterias for choosing appropriate methods. Experiments are carried out with a real ground robot platform in an indoor environment. The 2D and 3D map results demonstrate that our approach is able to show the surrounding in more details. Sensor fusion provides a better estimation of the environment and the ego-pose whilst lowering the necessary resources. This gives the robot’s perception of the environment more information by using only one additional low-cost 3D ultrasonic sensor. This is especially important for robust and light-weight robots with limited resources. View Full-Text
Keywords: sensor fusion; mapping; LiDAR; 3D ultrasonic sensor; 2D/3D map sensor fusion; mapping; LiDAR; 3D ultrasonic sensor; 2D/3D map
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MDPI and ACS Style

Tran, T.Q.; Becker, A.; Grzechca, D. Environment Mapping Using Sensor Fusion of 2D Laser Scanner and 3D Ultrasonic Sensor for a Real Mobile Robot. Sensors 2021, 21, 3184. https://doi.org/10.3390/s21093184

AMA Style

Tran TQ, Becker A, Grzechca D. Environment Mapping Using Sensor Fusion of 2D Laser Scanner and 3D Ultrasonic Sensor for a Real Mobile Robot. Sensors. 2021; 21(9):3184. https://doi.org/10.3390/s21093184

Chicago/Turabian Style

Tran, Tien Q.; Becker, Andreas; Grzechca, Damian. 2021. "Environment Mapping Using Sensor Fusion of 2D Laser Scanner and 3D Ultrasonic Sensor for a Real Mobile Robot" Sensors 21, no. 9: 3184. https://doi.org/10.3390/s21093184

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