<title>Detection for mobile robot navigation based on multisensor fusion</title>

摘要

The work presented in this paper is a part of the research project on multisensor integrated vision system and sensor fusion algorithm for the navigation of an autonomous mobile robot equipped with a laser range finder (LRF) and a color visual CCD camera. To combine the complementary information from LRF and color camera, a fusion algorithm is designed based on the Dempster-Shafer's theory of evidence (DSTE). As we know, DSTE can only be used to the independent evidences, but our fusion algorithm can deal with dependent ones, which is in line with the dependent character of mobile robotics sensor information. Finally, the system and the algorithm have been tested in real environments, and their effectiveness has been proved.