Přístupnostní navigace
E-application
Search Search Close
Publication detail
KALVODOVÁ, P. ŽALUD, L.
Original Title
Accuracy Evaluation Method of Multispectral Data Fusion for Robotic Systems
Type
conference paper
Language
English
Original Abstract
The aim of the paper is to describe method for accuracy evaluation of optical multispectral data-fusion systems. The method was primarily developed for evaluation of robotics systems formed in our laboratory, but its usage is without doubt much wider. Described method of evaluation consists of multispectral target design, pattern extraction and computation of criteria for data fusion evaluation. Two completely different robotic systems have been evaluated in this paper. The first one is mobile robot Orpheus-X4 with its advanced visual system that uses data fusion for automatic environment mapping and visual telepresence. The fusion is realized by means of spatial data from Swissranger TOF camera; the thermal and CCD camera data are comprised in one multispectral 3D model for mapping purposes or stereo image presented in real-time to a monitor or a binocular head-mounted display. The second system is scanning robotic system RoScan with industrial manipulator that can be used for many different applications in medical domain, such as "diabetic foot" necrotic tissue detection, inflammation diagnosis, or monitoring of tissue recovery process. Fusion is realized by means of spatial data from triangulation line scanner; the thermal and CCD camera data are comprised in one multispectral 3D model for medical purposes.
Keywords
Robot; Data fusion; Multispectral target; Laser scanner; Thermal imager; TOF camera; CCD camera
Authors
KALVODOVÁ, P.; ŽALUD, L.
Released
1. 1. 2018
Publisher
SPRINGER INTERNATIONAL PUBLISHING AG
Location
CHAM
ISBN
978-3-319-76072-8
Book
MODELLING AND SIMULATION FOR AUTONOMOUS SYSTEMS
Pages from
237
Pages to
250
Pages count
14
BibTex
@inproceedings{BUT163749, author="Petra {Kalvodová} and Luděk {Žalud}", title="Accuracy Evaluation Method of Multispectral Data Fusion for Robotic Systems", booktitle="MODELLING AND SIMULATION FOR AUTONOMOUS SYSTEMS", year="2018", volume="10756", pages="237--250", publisher="SPRINGER INTERNATIONAL PUBLISHING AG", address="CHAM", doi="10.1007/978-3-319-76072-8\{_}17", isbn="978-3-319-76072-8" }