Show simple item record

dc.contributor.advisor Johnson, Don H.
dc.creatorSmith, Jeffrey David
dc.date.accessioned 2009-06-04T00:46:56Z
dc.date.available 2009-06-04T00:46:56Z
dc.date.issued 1996
dc.identifier.urihttps://hdl.handle.net/1911/14065
dc.description.abstract It is standard practice in advanced telerobotic systems to use a detailed model of the operating environment to plan tasks and drive simulations. How well these systems operate is highly dependent upon the accuracy of this model. As objects are moved by manipulators, inaccuracies in the world model will accumulate, progressively reducing the overall system utility. To compensate for errors in the world model, sensory information on the location of objects within the operating area must be used to drive world model updates. Every sensory process (e.g. laser range-finding) provides information of limited accuracy, and this accuracy function must be taken into account during the data fusion. We measured and characterized sensor inaccuracies for video cameras, laser range-finders and kinematic positioning information, and used them as the foundation of a sensor fusion system to produce more accurate position measurements of objects in the workspace. By studying the resulting fused sensor error characteristics, we show how sensor sub-systems for telerobotic systems can be designed, and how fused sensor information can be used to increase manipulator accuracy.
dc.format.extent 63 p.
dc.format.mimetype application/pdf
dc.language.iso eng
dc.subjectElectronics
Electrical engineering
System science
dc.title Statistical characterization of sensors for sensor fusion
dc.type.genre Thesis
dc.type.material Text
thesis.degree.department Electrical and Computer Engineering
thesis.degree.discipline Engineering
thesis.degree.grantor Rice University
thesis.degree.level Masters
thesis.degree.name Master of Science
dc.identifier.citation Smith, Jeffrey David. "Statistical characterization of sensors for sensor fusion." (1996) Master’s Thesis, Rice University. https://hdl.handle.net/1911/14065.


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record