本文提出了一种多特征融合技术，将某一像素所属的区域用隶属度表示出来，很好地适应了这种物体边界的不确定性。
A multi-feature fusion approach is proposed to express which region one pixel belongs to, and it is suitable for the uncertainty.
利用激光和超声波传感器在用栅格表示法形成地图的基础上，提出了进行数据融合以提取环境特征的新方法：识别障碍物群。
A new data fusion method called obstacle group identification was proposed. This method is based on grid map created by using laser and ultrasonic sensors.
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