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Multiple sensor measurement fusion


Clemens Fischer, Stefano La Rosa

Semester Thesis, FS12 (10135)

In the context of the RoboCup project [1] the need for fusing measurements coming from multiple mobile sensors is of paramount importance. This is due to the approach taken by the ETH Zurich team which aims towards the behavioral control of the whole robot team. For this to be possible, the robot team members have to agree on the global state of the game which includes positions of teammates, opponents and ball. Given that every robot is a sensor, all the different estimates of the global state components need to be combined in a filter kept by a robot holding the role of team supervisor. For this purpose different approaches have been tried and compared. This project aims to the design, implementation and comparison of different measurement fusion algorithms and also utilizing ideas developed in recent work carried out in the computer vision lab (BIWI) of ETH Zurich. [10] We would like to thank Nikolaos Kariotoglou, Gemma Roig and Xavier Bosch for their support and helping us to realize this semester project.


Type of Publication:

(13)Semester/Bachelor Thesis

N. Kariotoglou

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% Autogenerated BibTeX entry
@PhdThesis { FisRos:2012:IFA_4226
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