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Experimental Validation of a Localization System Based on a Heterogeneous Sensor Network
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- Araujo, Jose (author)
- KTH,Reglerteknik,ACCESS Linnaeus Centre
-
- Sandberg, Henrik (author)
- KTH,Reglerteknik,ACCESS Linnaeus Centre
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- Johansson, Karl Henrik (author)
- KTH,Reglerteknik,ACCESS Linnaeus Centre
- (creator_code:org_t)
- NEW YORK : IEEE, 2009
- 2009
- English.
- In: ASCC. - NEW YORK : IEEE. - 9781424454402 ; , s. 465-470
- Conference paper (peer-reviewed)
Abstract
Subject headings
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- The experimental implementation and validation of a localization system based on a heterogeneous sensor network is described. The sensor network consists of ultrasound ranging sensors and web cameras. They are used to localize a mobile robot under sensor communication constraints. Applying a recently proposed sensor fusion algorithm that explicitly takes communication delay and cost into account, it is shown that one can accurately trade off the estimation performance by using low-quality ultrasound sensors with low processing time and low communication cost versus the use of the high-quality cameras with longer processing time and higher communication cost. It is shown that a periodic schedule of the sensors is suitable in many cases. The experimental setup is discussed in detail and experimental results are presented.
Subject headings
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorteknik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Engineering (hsv//eng)
Keyword
- Computer engineering
- Datorteknik
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- kon (subject category)
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