Integration of optical and acoustic sensors for D underwater scene reconstruction.

Combination of optical and acoustic sensors to overcome the shortcomings presented by optical systems in underwater 3D acquisition is an emerging field of research. In this work, an opti-acoustic system composed by a single camera and a multibeam sonar is proposed, providing a simulation environment to validate its potential use in 3D reconstruction. Since extrinsic calibration is a prerequisite for this kind of feature-level sensor fusion, an effective approach to address the calibration problem between a multibeam and a camera system is presented.Peer Reviewe

Online Mapping-Based Navigation System for Wheeled Mobile Robot in Road Following and Roundabout

A road mapping and feature extraction for mobile robot navigation in road roundabout and road following environments is presented in this chapter. In this work, the online mapping of mobile robot employing the utilization of sensor fusion technique is used to extract the road characteristics that will be used with path planning algorithm to enable the robot to move from a certain start position to predetermined goal, such as road curbs, road borders, and roundabout. The sensor fusion is performed using many sensors, namely, laser range finder, camera, and odometry, which are combined on a new wheeled mobile robot prototype to determine the best optimum path of the robot and localize it within its environments. The local maps are developed using an image’s preprocessing and processing algorithms and an artificial threshold of LRF signal processing to recognize the road environment parameters such as road curbs, width, and roundabout. The path planning in the road environments is accomplished using a novel approach so called Laser Simulator to find the trajectory in the local maps developed by sensor fusion. Results show the capability of the wheeled mobile robot to effectively recognize the road environments, build a local mapping, and find the path in both road following and roundabout

Fast 3D Perception for Collision Avoidance and SLAM in Domestic Environments

Electronics engineerin