Obstacle detection model implementation based on information fusion of ultrasonic and vision
Jimin Wang, Qijun Chen · 2016
Obstacle Avoidance plays an important role in robotics, which is widely used in advanced technologies. This paper adopts the ultrasonic obstacle detection model with circle buffers and the visual obstacle detection model with ObstacleWheel data structure. Besides, an obstacle detection model based on information fusion is proposed to collect environment information and calculate the confidence of obstacles in real time after ultrasonic and vision information are fused. Moreover, experiments are designed in obstacle avoidance system of NAO. The result reveals that the obstacle detection model based on information fusion performs better than either of the sensor models.