Treatment of systematic errors II: Fusion of ultrasound and visual sensor data

Beckerman, M; Farkas, L A; Johnston, S E

Title: Treatment of systematic errors II: Fusion of ultrasound and visual sensor data

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Abstract

In this work we present a methodology for the fusion of ultrasound and visual sensor data as acquired by a mobile robot. The objective of the methodology was the reduction of systematic errors which arise in the processing of the data in the individual sensor domains. In the initial processing of the ultrasound scan, rectilinear (Cartesian map) and polar (strings) data structures were built. In the initial processing of the CCD camera image, vertical edge segments were identified and labeled according to their connectivity. The systematic errors treated included ultrasound distortions in size, and visual ambiguities in discriminating depth discontinuities from intensity gradients generated by other details in the image. These systematic errors were first flagged by comparing the ultrasound strings and visual vertical edges to one another. The ranges, spatial orientation of the camera, and geometric information extracted from least-squares fits were then used in the fusion stage processing of the visual image. Vertical edge information was used in the subsequent fusion stage processing of the ultrasound data. By the end of this feedback-like fusion process the data structures in each sensor domain carried some information from the other domain. We had identified the vertical edges of interest, taggedmore »« less

Authors:: Beckerman, M; Farkas, L A; Johnston, S E

Publication Date:: Fri Jun 01 00:00:00 EDT 1990

Research Org.:: Oak Ridge National Lab., TN (USA)

Sponsoring Org.:: DOE/ER; DOE/NE

OSTI Identifier:: 6697953

Report Number(s):: ORNL/TM-11349; CESAR-89/38
ON: DE90014780

DOE Contract Number:: AC05-84OR21400

Resource Type:: Technical Report

Country of Publication:: United States

Language:: English

Subject:: 99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE; ROBOTS; DATA PROCESSING; DATA ACQUISITION; ERRORS; IMAGE PROCESSING; LEAST SQUARE FIT; NAVIGATION; STATISTICS; ULTRASONIC WAVES; VISION; MATHEMATICS; MAXIMUM-LIKELIHOOD FIT; NUMERICAL SOLUTION; PROCESSING; SOUND WAVES; 990200* - Mathematics & Computers

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                    Beckerman, M, Farkas, L A, and Johnston, S E. Treatment of systematic errors II: Fusion of ultrasound and visual sensor data.  United States: N. p., 1990. 
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                    Beckerman, M, Farkas, L A, & Johnston, S E. Treatment of systematic errors II: Fusion of ultrasound and visual sensor data.  United States.

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                    Beckerman, M, Farkas, L A, and Johnston, S E. 1990.  
        "Treatment of systematic errors II: Fusion of ultrasound and visual sensor data".  United States.

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@article{osti_6697953,

  title        = {Treatment of systematic errors II: Fusion of ultrasound and visual sensor data},

  author       = {Beckerman, M and Farkas, L A and Johnston, S E},

  abstractNote = {In this work we present a methodology for the fusion of ultrasound and visual sensor data as acquired by a mobile robot. The objective of the methodology was the reduction of systematic errors which arise in the processing of the data in the individual sensor domains. In the initial processing of the ultrasound scan, rectilinear (Cartesian map) and polar (strings) data structures were built. In the initial processing of the CCD camera image, vertical edge segments were identified and labeled according to their connectivity. The systematic errors treated included ultrasound distortions in size, and visual ambiguities in discriminating depth discontinuities from intensity gradients generated by other details in the image. These systematic errors were first flagged by comparing the ultrasound strings and visual vertical edges to one another. The ranges, spatial orientation of the camera, and geometric information extracted from least-squares fits were then used in the fusion stage processing of the visual image. Vertical edge information was used in the subsequent fusion stage processing of the ultrasound data. By the end of this feedback-like fusion process the data structures in each sensor domain carried some information from the other domain. We had identified the vertical edges of interest, tagged them with range information, and removed the distortions from the Cartesian navigation maps. 32 refs., 11 figs.},

  doi          = {},

  url          = {https://www.osti.gov/biblio/6697953},
  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {Fri Jun 01 00:00:00 EDT 1990},

  month        = {Fri Jun 01 00:00:00 EDT 1990}

}

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https://doi.org/10.1118/1.4892065

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