Obstacle detection for intelligent robots based on the fusion of 2D lidar and depth camera

• DOI: 10.1504/ijhm.2024.135994
• Publication Date: 2024-01-12T12:30:21Z
• Authors: Bailin Fan; Hang Zhao; Lingbei Meng
• Keywords: Sensor Fusion

To address the limitations of traditional obstacle detection methods that rely on single sensors and cannot accurately detect locate obstacles in complex environments, this paper proposes an method based fusion 2D lidar depth camera. The proposed converts data from two into same coordinate system for clustering analysis identification. It uses Kalman filtering to estimate predict target state, significantly improving range accuracy providing more reliable information intelligent robots. Experimental results show outperforms other commonly used actual indoor scenes, demonstrating can effectively different types measure track their positions.