A Probabilistic Framework for Weighting Different Sensor Data in MUREA

Marcello Restelli, Domenico G. Sorrenti, Fabio M. Marchese

Abstract: We shortly review a mobile robot localization method for known 2D environments, which we proposed in previous works; it is an evidence accumulation method where the complexity of working on a large grid is reduced by means of a multi-resolution scheme. We then elaborate a framework to define a set of weights which takes into account the different amount of information provided by each perception, i.e. sensor datum. The experimental activity presented, although the approach is independent on the sensory system, is currently based on perceptions coming from omnidirectional vision in an indoor environment.