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3D robot sensing from sonar and vision

Describes a sensor that fuses sonar and visual data to create a three dimensional (3D) model of the environment with application to robot navigation. The environment is characterized by a set of connected horizontal and vertical lines. 3D sonar data is augmented by making deductions concerning the connection and definition of lines in 2D visual data. Any errors that may result from incorrect interpretation of the 2D camera data, such as false connections between lines, can be detected by moving the robot. Experimental results from the sensor are presented.