Multi-robot cooperative edge detection using kalman filtering

Kai-Tai Song*, Hung Ting Chen

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


This paper presents a design and implementation of cooperative edge detection of multiple mobile robots in an indoor environrent. We propose a method to fuse sensory data from two mobile robots at different locations based on Kalman filtering techniques. To demonstrate the proposed method, we constructed two mobile robots for experimental purpose. A USB Web camera was put at the front of each robot for environrent recognition. Image acquisition and processing are performed onboazd the robot exploiting a Linux-based embedded platform. Processed scenic range data from robots are transferred through wireless Ethernet to a robot-home server, where a global representation of the environrent is maintained. The constructed map can be accessed at a remote site for tele-operation of the robots through Internet. Each robot can update its knowledge of the world by downloading the map from the server. Experimental results of two-robot cooperative sensing in a test environment aze presented to demonstrate the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)295-306
Number of pages12
JournalIntelligent Automation and Soft Computing
Issue number4
StatePublished - 1 Jan 2004


  • Cooperative sensing
  • Edge detection
  • Image processing
  • Kalman filtering
  • Map-building
  • Multiple robots
  • Sensor data fusion

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