Force, acceleration and vision sensor fusion for contour following tasks with an industrial robot

2011 ◽  
Author(s):  
Heiko Koch ◽  
Alexander Konig ◽  
Alexandra Weigl-Seitz ◽  
Karl Kleinmann ◽  
Jozef Suchy
Keyword(s):  
Sensor Fusion ◽  
Industrial Robot ◽  
Vision Sensor ◽  
Contour Following

scholarly journals Research on Lane a Compensation Method Based on Multi-Sensor Fusion

Sensors ◽  
2019 ◽  
Vol 19 (7) ◽  
pp. 1584 ◽  
Author(s):  
Yushan Li ◽  
Wenbo Zhang ◽  
Xuewu Ji ◽  
Chuanxiang Ren ◽  
Jian Wu
Keyword(s):  
Real Time ◽  
Sensor Fusion ◽  
Compensation Method ◽  
Measurement Unit ◽  
Vision Sensor ◽  
Vision Sensors ◽  
Cubic Polynomial ◽  
Vehicle Test ◽  
Yaw Angle ◽  
Geometric Relationship

The curvature of the lane output by the vision sensor caused by shadows, changes in lighting and line breaking jumps over in a period of time, which leads to serious problems for unmanned driving control. It is particularly important to predict or compensate the real lane in real-time during sensor jumps. This paper presents a lane compensation method based on multi-sensor fusion of global positioning system (GPS), inertial measurement unit (IMU) and vision sensors. In order to compensate the lane, the cubic polynomial function of the longitudinal distance is selected as the lane model. In this method, a Kalman filter is used to estimate vehicle velocity and yaw angle by GPS and IMU measurements, and a vehicle kinematics model is established to describe vehicle motion. It uses the geometric relationship between vehicle and relative lane motion at the current moment to solve the coefficient of the lane polynomial at the next moment. The simulation and vehicle test results show that the prediction information can compensate for the failure of the vision sensor, and has good real-time, robustness and accuracy.

Radar and Vision Sensor Fusion for Primary Vehicle Detection

2010 ◽  
Vol 16 (7) ◽  
pp. 639-645 ◽  
Author(s):  
Seung-Han Yang ◽  
Bong-Sob Song ◽  
Jae-Young Um
Keyword(s):  
Sensor Fusion ◽  
Vehicle Detection ◽  
Vision Sensor

Vision Sensor Fusion for Circular Wing Planform

2004 ◽  
Author(s):  
William Rieken ◽  
Yoshihiro Yasumuro ◽  
Masataka Imura ◽  
Yoshitsugu Manabe ◽  
Kunihiro Chihara
Keyword(s):  
Sensor Fusion ◽  
Vision Sensor ◽  
Circular Wing

Vision Sensor Fusion for Autonomous Landing

2017 ◽  
Author(s):  
Takuma Nakamura ◽  
Stephen T. Haviland ◽  
Dmitry Bershadsky ◽  
Eric N. Johnson
Keyword(s):  
Sensor Fusion ◽  
Vision Sensor ◽  
Autonomous Landing

Multisensor Contour Following With Vision, Force, and Acceleration Sensors for an Industrial Robot

2013 ◽  
Vol 62 (2) ◽  
pp. 268-280 ◽  
Author(s):  
Heiko Koch ◽  
Alexander Konig ◽  
Alexandra Weigl-Seitz ◽  
Karl Kleinmann ◽  
Jozef Suchy
Keyword(s):  
Industrial Robot ◽  
Acceleration Sensors ◽  
Contour Following
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