Abstract

IMBACHI, Sandra Carolina; VIVAS GARCIA, Jeison Eduardo  and  FLOREZ, Juan Fernando. Sensory fusion and integration of lidar with stereo vision and Kinect for analysis of depth. Ing. Desarro. [online]. 2018, vol.36, n.1, pp.40-58. ISSN 0122-3461.  https://doi.org/10.14482/inde.36.1.10937.

Sensory integration and fusion of a lidar system with two stereo vision cameras and Kinect for measuring depth is presented; filtering methods using maximum likelihood and Kalman for processing of data. it was developed a hardware fusion and later a software integration in order to carry out tests to 0,68, 1,5, 2, 2,5 and 4 m. Getting that the hardware fusion lidar-Kinect has the best result with an average error 1,08 %, and in turn the Kalman filter provides better support for processing and accuracy of the data for both fusions with an average error of 1,35 %.

Keywords : Depth; filtering; fusion; integration; sensory.

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