Robot perception with ultrasonic sensors using data fusion
P. J. McKerrow · 2002
Robots perceive the environment with sensors that have both geometric and physical limitations. Situations occur where raw sensor data is inadequate for perception. In these situations the robot must reason about sensor data. One class of techniques used to implement perception is data fusion. This paper discusses the application of a four-level data fusion software architecture to ultrasonic mapping with a mobile robot.