Surface profile based on sensor fusion

• Author(s): Santos, Cristina ; Fonseca, Jaime C. ; Garrido, Paulo ; Couto, Carlos
• Date: 1998
• Persistent ID: http://hdl.handle.net/1822/1739
• Origin: RepositóriUM - Universidade do Minho
• Subject(s): Ultrassonic sensors; Sensor fusion
• Document Type: Conference Object
• Language: English

Description

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.