Surface profile based on sensor fusion

• Autor(es): Santos, Cristina ; Fonseca, Jaime C. ; Garrido, Paulo ; Couto, Carlos
• Data: 1998
• Identificador Persistente: http://hdl.handle.net/1822/1739
• Origem: RepositóriUM - Universidade do Minho
• Assunto(s): Ultrassonic sensors; Sensor fusion
• Tipo de Documento: Documento de conferência
• Idioma: Inglês

Descrição

This paper reports a sensor system which it has been designed and constructed to acquire the profile of surfaces. This system is based in a CCD camera for object boundary-determination mounted over a robot manipulator shoulder and ultrasonic sensors for depth measurement mounted on a fixture at the wrist of the manipulator. It has been used an average weighted by degrees of confidence for raw sensor data fusion, based on a heuristic set of rules.