Technology of Graphic & Image
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1882-1885

Comparative study of sensor data fusion and single sensor in simultaneous localization and mapping

Guo Weia
Peng Huia
Zhang Yub
a. School of Software Engineering, b. School of Control Engineering, Chengdu University of Information Technology, Chengdu 610225, China

Abstract

Aiming at the limitation of single sensor data in simultaneous localization and mapping in indoor environment, this paper proposed a sensor data fusion method using fuzzy nearness and adaptive weighting. Firstly, it established the observation model, and firstly merged the data acquired by the Kinect depth camera and the LiDAR data by the method of fuzzy nearness. Then it used the weighting coefficient for the second weighting correction by the method of adaptive weighting. Finally, it compared the map built by this method with the map built by a single sensor. The experimental results show that the data obtained by this method is more reliable, and the obtained maps have higher accuracy and smoother environmental features, which verifies the effectiveness of the proposed algorithm.

Foundation Support

国家自然科学基金资助项目(61472050)
四川省科技厅资助项目(2019YJ0356)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2018.11.0914
Publish at: Application Research of Computers Printed Article, Vol. 37, 2020 No. 6
Section: Technology of Graphic & Image
Pages: 1882-1885
Serial Number: 1001-3695(2020)06-058-1882-04

Publish History

[2020-06-05] Printed Article

Cite This Article

郭维, 彭辉, 张瑜. 传感器数据融合与单一传感器在同步定位与构图中的对比研究 [J]. 计算机应用研究, 2020, 37 (6): 1882-1885. (Guo Wei, Peng Hui, Zhang Yu. Comparative study of sensor data fusion and single sensor in simultaneous localization and mapping [J]. Application Research of Computers, 2020, 37 (6): 1882-1885. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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