Hierarchical sensor fusion for building a probabilistic local map using active sensor modules
Author:
Kim Gon Woo,Kim Ji Min,Kwak Nosan,Lee Beom Hee
Abstract
SUMMARYAn algorithm for three-level hierarchical sensor fusions has beenproposed and applied to environment map building with enhanced accuracy and efficiency. The algorithm was realized through the two new types of sensor modules, which are composed of a halogen lamp-based active vision sensor and a semicircular ultrasonic (US) and infrared (IR) sensor system. In the first-level fusion, the US and IR sensor information is utilized in terms of the geometric characteristics of the sensor location. In the second-level fusion, the outputs from the US and IR sensors are combined with the sheet of halogen light through a proposed rule base. In the third-level fusion, local maps from the first- and second-level fusion are updated in a probabilistic way for a very accurate environment local map. A practical implementation has been carried out to demonstrate the efficiency and accuracy of the proposed hierarchical sensor fusion algorithm in environment map building.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
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