FuSeOn: A Low-Cost Portable Multi Sensor Fusion Research Testbed for Robotics

Sánchez López, José Luis and Changhong, Fu and Campoy Cervera, Pascual (2015). FuSeOn: A Low-Cost Portable Multi Sensor Fusion Research Testbed for Robotics. In: "Robot 2015: Second Iberian Robotics Conference", November 19th – 21st, 2015, Lisbon, Portugal. ISBN 978-3-319-27145-3. pp. 57-68. https://doi.org/10.1007/978-3-319-27146-0_5.

Description

Title: FuSeOn: A Low-Cost Portable Multi Sensor Fusion Research Testbed for Robotics
Author/s:
  • Sánchez López, José Luis
  • Changhong, Fu
  • Campoy Cervera, Pascual
Item Type: Presentation at Congress or Conference (Article)
Event Title: Robot 2015: Second Iberian Robotics Conference
Event Dates: November 19th – 21st, 2015
Event Location: Lisbon, Portugal
Title of Book: Robot 2015: Second Iberian Robotics Conference : Advances in Robotics
Date: 2015
ISBN: 978-3-319-27145-3
Volume: 1
Subjects:
Freetext Keywords: Multi sensor fusion, Datasets, Robotics, Testbed
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

Nowadays, the utilization of multiple sensors on every robotic platform is a reality due to their low cost, small size and light weight. Multi Sensor Fusion (MSF) algorithms are required to take advance of all the given measurements in a robust and complete manner. These high demanding developed algorithms need to be tested under real and challenging situations and environments. To the knowledge of the authors, none of the available datasets fulfills are fully suitable to be used for MSF applied to Robotics, due to the lack of multiple sensor measurements provided by light weight, small size and low cost sensors; due to their restricted motions (typically planar movements); or to their limited environmental conditions. The contributions of the paper are twofold. First, a low-cost portable and versatile testbed has been developed for MSF research with various types of sensors. Second, a group of datasets for MSF research for Robotics have been made public as a common framework for algorithm testing after a comparison with the existing databases in the state of the art, highlighting the differences and advantages of the one presented in this paper, that are: low-cost sensors for general use on Robotics, fully 3 dimensional movements (six degrees of freedom), as well as challenging indoor and outdoor small and large environments.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainMICYT DPI2014-60139-RUnspecifiedUnspecifiedUnspecified

More information

Item ID: 45704
DC Identifier: http://oa.upm.es/45704/
OAI Identifier: oai:oa.upm.es:45704
DOI: 10.1007/978-3-319-27146-0_5
Official URL: http://link.springer.com/book/10.1007/978-3-319-27146-0
Deposited by: Memoria Investigacion
Deposited on: 03 May 2017 15:41
Last Modified: 03 May 2017 15:41
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