Multisensor Fusion-Based Concurrent Environment Mapping and Moving Object Detection for Intelligent Service Robotics

Intelligent service robot development is an important and critical issue for human community applications. With the diverse and complex service needs, the perception and navigation are essential subjects. This investigation focuses on the synergistic fusion of multiple sensors for an intelligent ser...

Celý popis

Uloženo v:

Podrobná bibliografie
Vydáno v:	IEEE transactions on industrial electronics (1982) Ročník 61; číslo 8; s. 4043 - 4051
Hlavní autoři:	Luo, Ren C., Chun Chi Lai
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	New York IEEE 01.08.2014 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:	Cameras Concurrent simultaneous localization and mapping (SLAM) and moving object detection environment perception Estimates Estimation Laser fusion Mapping Measurement by laser beam multisensor fusion Navigation Perception Robots Service robots Simultaneous localization and mapping Stereo vision Trajectories Vision
ISSN:	0278-0046, 1557-9948
On-line přístup:	Získat plný text
Tagy:	Přidat tag Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!

Abstract	Intelligent service robot development is an important and critical issue for human community applications. With the diverse and complex service needs, the perception and navigation are essential subjects. This investigation focuses on the synergistic fusion of multiple sensors for an intelligent service robot that not only performs self-localization and mapping but also detects moving objects or people in the building it services. First of all, a new augmented approach of graph-based optimal estimation was derived for concurrent robot postures and moving object trajectory estimate. Moreover, all the moving object detection issues of a robot's indoor navigation are divided and conquered via multisensor fusion methodologies. From bottom to up, the estimation fusion methods are tactically utilized to get a more precise result than the one from only the laser ranger or stereo vision. Furthermore, for solving the consistent association problem of moving objects, a covariance area intersection belief assignment is applied for motion state evaluation and the complementary evidences such as kinematics and vision features are both synergized together to enhance the association efficiency with the evidence fusion method. The proof of concept with experiments has been successfully demonstrated and analyzed.
AbstractList	Intelligent service robot development is an important and critical issue for human community applications. With the diverse and complex service needs, the perception and navigation are essential subjects. This investigation focuses on the synergistic fusion of multiple sensors for an intelligent service robot that not only performs self-localization and mapping but also detects moving objects or people in the building it services. First of all, a new augmented approach of graph-based optimal estimation was derived for concurrent robot postures and moving object trajectory estimate. Moreover, all the moving object detection issues of a robot's indoor navigation are divided and conquered via multisensor fusion methodologies. From bottom to up, the estimation fusion methods are tactically utilized to get a more precise result than the one from only the laser ranger or stereo vision. Furthermore, for solving the consistent association problem of moving objects, a covariance area intersection belief assignment is applied for motion state evaluation and the complementary evidences such as kinematics and vision features are both synergized together to enhance the association efficiency with the evidence fusion method. The proof of concept with experiments has been successfully demonstrated and analyzed.
Author	Luo, Ren C. Chun Chi Lai
Author_xml	– sequence: 1 givenname: Ren C. surname: Luo fullname: Luo, Ren C. email: renluo@ntu.edu.tw organization: Center for Intell. Robot. & Autom. Res., Nat. Taiwan Univ., Taipei, Taiwan – sequence: 2 surname: Chun Chi Lai fullname: Chun Chi Lai email: cclai@ira.ee.ntu.edu.tw organization: Dept. of Electr. Eng., Nat. Chung Cheng Univ., Chiayi, Taiwan
BookMark	eNp9kb1PwzAQxS0EEuVjR2KJxMKS4nPsJB6htFCJCgnKHLnJpXKV2sV2KvHf46iIgYHpbni_d6f3zsixsQYJuQI6BqDybjmfjhmFbMxYWYKUR2QEQhSplLw8JiPKijKllOen5Mz7DaXABYgRCYu-C9qj8dYls95ra9IH5bFJJtbUvXNoQjI1e-2s2Q77Qu122qwTZZpkYffD-rraYB2SRwxxRIOkjV5zE7Dr9Hpg3tHtdY3Jm13ZoGt_QU5a1Xm8_Jnn5GM2XU6e05fXp_nk_iWtM8ZDCkVRNq2SjCGlbUFlgU0DMse2xFYoBhkXXAloOONcqIZnUq1UVrbAWK5yzM7J7cF35-xnjz5UW-3r-JYyaHtfgWBUckFFEaU3f6Qb2zsTv4uqGFtWCAFRRQ-q2lnvHbbVzumtcl8V0GqooYo1VEMN1U8NEcn_ILUOaogpOKW7_8DrA6gR8fdOngsoOcu-AQJml3I
CODEN	ITIED6
CitedBy_id	crossref_primary_10_1109_TII_2023_3290184 crossref_primary_10_1109_TIE_2016_2590380 crossref_primary_10_3390_s16071023 crossref_primary_10_3390_rs15235560 crossref_primary_10_1109_TIE_2015_2499253 crossref_primary_10_1109_TIE_2017_2787545 crossref_primary_10_1109_TSMC_2021_3090443 crossref_primary_10_1109_TIE_2015_2405494 crossref_primary_10_4304_jnw_9_10_2758_2765 crossref_primary_10_1109_ACCESS_2019_2937555 crossref_primary_10_1177_0142331220966132 crossref_primary_10_1109_TFUZZ_2017_2659764 crossref_primary_10_1109_TII_2020_3020583 crossref_primary_10_1109_TIE_2014_2341595 crossref_primary_10_1109_TIE_2014_2364798 crossref_primary_10_3390_sym10100491 crossref_primary_10_1109_TIE_2016_2607698 crossref_primary_10_1109_TIE_2016_2573765 crossref_primary_10_1007_s00500_023_08289_4 crossref_primary_10_1016_j_rcim_2016_02_002 crossref_primary_10_1109_TIE_2018_2833021 crossref_primary_10_1007_s42452_021_04508_5 crossref_primary_10_1109_TMECH_2018_2795252 crossref_primary_10_1631_FITEE_1500272 crossref_primary_10_1109_TIE_2014_2353017 crossref_primary_10_1109_TIE_2016_2609838 crossref_primary_10_1177_1729881418769191 crossref_primary_10_1109_TIE_2017_2682034 crossref_primary_10_3390_rs17071214 crossref_primary_10_3389_fnins_2017_00332 crossref_primary_10_1109_TWC_2016_2585141 crossref_primary_10_1109_TCSVT_2018_2875449 crossref_primary_10_1109_TII_2022_3145860 crossref_primary_10_1109_ACCESS_2021_3108775 crossref_primary_10_1109_TNNLS_2019_2899613 crossref_primary_10_1109_TIE_2015_2403798 crossref_primary_10_1109_TIE_2018_2881948 crossref_primary_10_1016_j_eswa_2023_123107 crossref_primary_10_1109_TIE_2019_2893824 crossref_primary_10_1177_0959651818800908 crossref_primary_10_3390_s18030683 crossref_primary_10_1016_j_ymssp_2018_12_008 crossref_primary_10_1109_TIE_2015_2477265 crossref_primary_10_1109_TIE_2017_2774731 crossref_primary_10_1109_TSMC_2018_2871104 crossref_primary_10_1109_TITS_2015_2422991
Cites_doi	10.1109/MITS.2010.939925 10.1109/CSPA.2010.5545267 10.1109/TIE.2009.2026764 10.1109/ROBOT.2005.1570722 10.1109/IECON.2011.6119305 10.1109/CVPRW.2003.10072 10.1109/34.121791 10.1109/TIE.2011.2170389 10.1109/TRO.2010.2101370 10.1023/B:JINT.0000038945.55712.65 10.1109/IROS.2007.4399383 10.1177/0278364906075026 10.1109/TIE.2011.2109332 10.1109/LSP.2006.870377 10.1109/ROBOT.2008.4543481 10.1109/TAES.2010.5417157 10.1137/1.9781611970777 10.1109/TIM.2011.2141230 10.1109/TIE.2011.2109333 10.1109/ICIF.2006.301773 10.1109/JSEN.2011.2166383 10.1109/TIE.2011.2141090 10.1109/JSEN.2002.1000251 10.1177/0278364907081229 10.1109/IECON.2011.6119786 10.1109/TSMCB.2008.2004050
ContentType	Journal Article
Copyright	Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Aug 2014
Copyright_xml	– notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Aug 2014
DBID	97E RIA RIE AAYXX CITATION 7SP 8FD L7M 7TB 7U5 F28 FR3
DOI	10.1109/TIE.2013.2288199
DatabaseName	IEEE All-Society Periodicals Package (ASPP) 2005–Present IEEE All-Society Periodicals Package (ASPP) 1998–Present IEEE Electronic Library (IEL) CrossRef Electronics & Communications Abstracts Technology Research Database Advanced Technologies Database with Aerospace Mechanical & Transportation Engineering Abstracts Solid State and Superconductivity Abstracts ANTE: Abstracts in New Technology & Engineering Engineering Research Database
DatabaseTitle	CrossRef Technology Research Database Advanced Technologies Database with Aerospace Electronics & Communications Abstracts Mechanical & Transportation Engineering Abstracts Solid State and Superconductivity Abstracts Engineering Research Database ANTE: Abstracts in New Technology & Engineering
DatabaseTitleList	Technology Research Database Technology Research Database
Database_xml	– sequence: 1 dbid: RIE name: IEEE Electronic Library (IEL) url: https://ieeexplore.ieee.org/ sourceTypes: Publisher
DeliveryMethod	fulltext_linktorsrc
Discipline	Engineering
EISSN	1557-9948
EndPage	4051
ExternalDocumentID	3238393981 10_1109_TIE_2013_2288199 6651842
Genre	orig-research
GroupedDBID	-~X .DC 0R~ 29I 4.4 5GY 5VS 6IK 97E 9M8 AAJGR AARMG AASAJ AAWTH ABAZT ABQJQ ABVLG ACGFO ACGFS ACIWK ACKIV ACNCT AENEX AETIX AGQYO AGSQL AHBIQ AI. AIBXA AKJIK AKQYR ALLEH ALMA_UNASSIGNED_HOLDINGS ASUFR ATWAV BEFXN BFFAM BGNUA BKEBE BPEOZ CS3 DU5 EBS EJD HZ~ H~9 IBMZZ ICLAB IFIPE IFJZH IPLJI JAVBF LAI M43 MS~ O9- OCL P2P RIA RIE RNS TAE TN5 TWZ VH1 VJK AAYXX CITATION 7SP 8FD L7M RIG 7TB 7U5 F28 FR3
ID	FETCH-LOGICAL-c324t-1778dfa922e00f7097edd196ef8ef5a213454a51d42445ad439aba38f1226a6e3
IEDL.DBID	RIE
ISICitedReferencesCount	59
ISICitedReferencesURI	http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000331791100024&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN	0278-0046
IngestDate	Mon Sep 29 06:46:36 EDT 2025 Mon Jun 30 10:16:05 EDT 2025 Tue Nov 18 21:43:02 EST 2025 Sat Nov 29 04:00:12 EST 2025 Tue Aug 26 16:49:27 EDT 2025
IsPeerReviewed	true
IsScholarly	true
Issue	8
Language	English
License	https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html
LinkModel	DirectLink
MergedId	FETCHMERGED-LOGICAL-c324t-1778dfa922e00f7097edd196ef8ef5a213454a51d42445ad439aba38f1226a6e3
Notes	ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 ObjectType-Article-2 ObjectType-Feature-1 content type line 23
PQID	1504637551
PQPubID	85464
PageCount	9
ParticipantIDs	crossref_primary_10_1109_TIE_2013_2288199 proquest_journals_1504637551 ieee_primary_6651842 proquest_miscellaneous_1520945057 crossref_citationtrail_10_1109_TIE_2013_2288199
PublicationCentury	2000
PublicationDate	2014-Aug. 2014-08-00 20140801
PublicationDateYYYYMMDD	2014-08-01
PublicationDate_xml	– month: 08 year: 2014 text: 2014-Aug.
PublicationDecade	2010
PublicationPlace	New York
PublicationPlace_xml	– name: New York
PublicationTitle	IEEE transactions on industrial electronics (1982)
PublicationTitleAbbrev	TIE
PublicationYear	2014
Publisher	IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher_xml	– name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
References	ref13 ref12 ref15 ref14 cao (ref18) 2010 ref30 ref11 ref10 ref2 ref1 ref16 ref19 (ref27) 1996 ref24 ref26 ref25 shih che (ref17) 2007 ref20 ref22 ref21 ref28 ref29 ref8 ref7 ref9 ref4 sentz (ref23) 0 ref3 ref6 ref5
References_xml	– ident: ref5 doi: 10.1109/MITS.2010.939925 – ident: ref28 doi: 10.1109/CSPA.2010.5545267 – ident: ref10 doi: 10.1109/TIE.2009.2026764 – ident: ref6 doi: 10.1109/ROBOT.2005.1570722 – ident: ref29 doi: 10.1109/IECON.2011.6119305 – ident: ref13 doi: 10.1109/CVPRW.2003.10072 – ident: ref16 doi: 10.1109/34.121791 – ident: ref12 doi: 10.1109/TIE.2011.2170389 – start-page: 465 year: 2007 ident: ref17 article-title: A SIFT method application for a six DOF manipulator grasping an object against complicated environment publication-title: Proc IEEE Annu Conf Ind Electron – ident: ref1 doi: 10.1109/TRO.2010.2101370 – ident: ref25 doi: 10.1023/B:JINT.0000038945.55712.65 – ident: ref11 doi: 10.1109/IROS.2007.4399383 – ident: ref4 doi: 10.1177/0278364906075026 – ident: ref9 doi: 10.1109/TIE.2011.2109332 – ident: ref24 doi: 10.1109/LSP.2006.870377 – ident: ref30 doi: 10.1109/ROBOT.2008.4543481 – ident: ref19 doi: 10.1109/TAES.2010.5417157 – ident: ref26 doi: 10.1137/1.9781611970777 – ident: ref21 doi: 10.1109/TIM.2011.2141230 – start-page: 1657 year: 2010 ident: ref18 article-title: An efficient feature-based non-rigid registration of multiphase liver CT images using matching region partition publication-title: Proc IEEE Conf Ind Electron Appl – ident: ref2 doi: 10.1109/TIE.2011.2109333 – ident: ref20 doi: 10.1109/ICIF.2006.301773 – ident: ref8 doi: 10.1109/JSEN.2011.2166383 – ident: ref3 doi: 10.1109/TIE.2011.2141090 – ident: ref7 doi: 10.1109/JSEN.2002.1000251 – ident: ref15 doi: 10.1177/0278364907081229 – year: 0 ident: ref23 – ident: ref22 doi: 10.1109/IECON.2011.6119786 – ident: ref14 doi: 10.1109/TSMCB.2008.2004050 – year: 1996 ident: ref27 publication-title: Alpha Version
SSID	ssj0014515
Score	2.4009578
Snippet	Intelligent service robot development is an important and critical issue for human community applications. With the diverse and complex service needs, the...
SourceID	proquest crossref ieee
SourceType	Aggregation Database Enrichment Source Index Database Publisher
StartPage	4043
SubjectTerms	Cameras Concurrent simultaneous localization and mapping (SLAM) and moving object detection environment perception Estimates Estimation Laser fusion Mapping Measurement by laser beam multisensor fusion Navigation Perception Robots Service robots Simultaneous localization and mapping Stereo vision Trajectories Vision
Title	Multisensor Fusion-Based Concurrent Environment Mapping and Moving Object Detection for Intelligent Service Robotics
URI	https://ieeexplore.ieee.org/document/6651842 https://www.proquest.com/docview/1504637551 https://www.proquest.com/docview/1520945057
Volume	61
WOSCitedRecordID	wos000331791100024&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText	1
inHoldings	1
isFullTextHit
isPrint
journalDatabaseRights	– providerCode: PRVIEE databaseName: IEEE Electronic Library (IEL) customDbUrl: eissn: 1557-9948 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0014515 issn: 0278-0046 databaseCode: RIE dateStart: 19820101 isFulltext: true titleUrlDefault: https://ieeexplore.ieee.org/ providerName: IEEE
link	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1LS8NAEB5q8aAH32K1ygpeBGPTTTa7OfposYeqSAVvYbMPL5JIH_5-ZzdpFBTBWyCTB5nszjevbwDO0ITRRKgksMLKIO5zHaRK8UDj72SM4Yyq2A-b4Pf34uUlfWzBRdMLgwK--MxcukOfy9elWrhQWS9JGDokuOGucM6rXq0mYxCzaloBdYyx6PQtU5Jh2puMBq6GK7qkVIiK5fXLBPmZKj82Ym9dhpv_e68t2KhRJLmq1L4NLVPswPo3bsFdqFprZ-illlMyXLigWHCNJkuTm7JQFSsTGXy1uZGxdFQNr0QWmox9nIE85C5KQ27N3BdsFQQRLhk1JJ5zUu805KnMS8f3vAfPw8Hk5i6oRywECpHUPOhzLrSVKaUmDC0PU260xkVprDCWSUf3xmLJ-tr1wzGpEb7IXEbC9hG2ycRE-9AuysIcAEEslSqpRSRzGkdS5kxHSubcWhbzPFUd6C2_eqZq_nE3BuMt835ImGaop8zpKav11IHz5or3invjD9ldp5dGrlZJB7pLxWb14pxliIHjJOKIFTtw2pzGZeVyJbIw5cLJUHR8nfd2-Pudj2ANnx9XtYBdaM-nC3MMq-oDVTs98f_mJ7QY4zs
linkProvider	IEEE
linkToHtml	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1bS9xAFD6IFdSHar3Qba1OoS-CcZPJTGbyWHUXF92tyAq-hclcfCmJ7KW_v2cm2VhQhL4FchJCzsyc79y-A_ADTRjNpM4iJ52KWCJMlGstIoPLyVorONUsDJsQk4l8fMzv1uCs64VBgVB8Zs_9Zcjlm1ovfaisn2UcHRI8cD9wxmjSdGt1OQPGm3kF1HPGotu3SkrGeX86GvgqrvScUikbntcXIxSmqrw6ioN9Ge7835ftwscWR5KfjeI_wZqt9mD7H3bBfWiaa-fop9YzMlz6sFh0gUbLkMu60g0vExm8NLqRsfJkDU9EVYaMQ6SB_Cp9nIZc2UUo2aoIYlwy6mg8F6Q9a8h9Xdae8fkAHoaD6eV11A5ZiDRiqUWUCCGNUzmlNo6diHNhjcFtaZ20jitP-MaZ4onxHXFcGQQwqlSpdAkCN5XZ9BDWq7qyn4Egmsq1MjJVJWWpUiU3qValcI4zUea6B_3VXy90y0DuB2H8LoInEucF6qnweipaPfXgtHviuWHfeEd23-ulk2tV0oOjlWKLdnvOC0TBLEsFosUefO9u48by2RJV2XrpZSi6vt5_-_L2m09g83o6vi1uR5Obr7CF38KaysAjWF_MlvYbbOg_qObZcVinfwGofOaC
openUrl	ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Multisensor+Fusion-Based+Concurrent+Environment+Mapping+and+Moving+Object+Detection+for+Intelligent+Service+Robotics&rft.jtitle=IEEE+transactions+on+industrial+electronics+%281982%29&rft.au=Luo%2C+Ren+C&rft.au=Lai%2C+Chun+Chi&rft.date=2014-08-01&rft.pub=The+Institute+of+Electrical+and+Electronics+Engineers%2C+Inc.+%28IEEE%29&rft.issn=0278-0046&rft.eissn=1557-9948&rft.volume=61&rft.issue=8&rft.spage=4043&rft_id=info:doi/10.1109%2FTIE.2013.2288199&rft.externalDBID=NO_FULL_TEXT&rft.externalDocID=3238393981
thumbnail_l	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0278-0046&client=summon
thumbnail_m	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0278-0046&client=summon
thumbnail_s	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0278-0046&client=summon