multi-sensor data fusion in LabVIEW

[Hillman]

Hi everyone,

I have started work on a multi-robot platform which will hopefully in the near future (9 months time) track targets for surveillance purposes.  

We are looking to use LabVIEW for further development - already have an API to interface robots with computers which was coded in c++.

My question is regarding the topic of Data Fusion/Sensor Fusion/Multi-sensor fusion.

Has anyone had any experience of this before?

I am pretty new to the theory.. so was just interested in there is anyone out there with any insight.

The way I see the problem, is that we have two types of sensor - encoders and laser range finder. Obviously, use encoder data for localization..(Whole other topic) and laser range finder. But the fusion (which will take place PC) would have to be adaptive to source all the laser range finders which are active last scan and build up an 'image' of the environment.

The only information I have found, are the robotic pages on the NI website and control application which implement kalman  filters - which sound ideal, but we haven't got equations that describe our system..

Im not sure what I am expecting from this post - but I have seen some pretty great inputs from the NI Community within the last year I worked at NI UK.

Thanks,

James.  

[RER]

Hill-Man... Master of the forums!!!

Its good to get updated on what you are working on now. You Loughborough lads seem to be involved in some pretty exciting projects!!

I'm afraid that I am not going to be able to throw a great deal into the pot at the moment. However, I have had a hunt around for you

and I did uncover this interesting community artical - complete with downloadable code modules and tutorial video.

Sensor Fusion

http://decibel.ni.com/content/docs/DOC-3212

I assume that you have already seen the following links...

Robotics Fundamentals Series: Localization

http://zone.ni.com/devzone/cda/tut/p/id/8224

Robotics Fundamentals Series: Sensor Fusion

http://zone.ni.com/devzone/cda/tut/p/id/8219

I am afraid I personally wont be able to help you much further though buddy. Please let me know if you have some more specific questions.

Other than, I guess we will hope that another member of the amazing NI-community has already tried a simular project.

Speak soon fella!

[Hillman]

Hey matey! Thanks for the great comments - fun times with the NI UK team. 

I had already found that stuff - but thanks for looking, real help.

Like I said, not sure what I expected from the community - but maybe someone out there will share their knowledge in this area...

Thanks again,

James  

[Sapkota]

Dear Hillman,

I have a similar question what you asked and still its puzzling my mind. I am working for a mobile robot where Sick LMS 100 laser scanner is provided and encoder sensor are attached to the wheel. I want to fuse these both sensors to improve my localisation.I am working in labview environment. Can you please guide me how can i fuse these both sensors ? I would really appreciate your help.