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fusion approach to stereo vision uncertainty

Fusion approach to stereo vision uncertainty

引用

conference on sensor fusion - architectures, algorithms, and applications VI

作者： Mitra, D Nandi, GC Indian Sch Mines Dept Elect Engn Dhanbad 826004 Bihar India

ISBN: (纸本)0819444812

This paper has briefly identified some application areas that require very reliable and precise estimates of real-time depth information using visual sensors. Amongst them stereoscopy is quite popularly employed in extracting 3-D structure information about imaged objects. In such applications, it was strongly felt the need to evaluate the uncertainty that remains in the stereoscopic information. This will be significant for fusing the information with other sensor modalities in multi-sensor systems and also for minimizing the uncertainty to any pre-assigned value, if required. These two approaches have been realized in this paper. In the first approach, partial stereo information obtained from a single camera has been considered for fusion using a generalized camera model and the uncertainty ellipsoid of the same information has been derived. In the second approach a multiple-camera (or multiple-baseline) stereo system has been considered where the correctness and precision of multi-baseline stereo matching has been improved by the application of fusion concepts. The improvement of the trade-off between precision and ambiguity through fusion of the depth estimates has been illustrated using a particular intensity function for the images. By using fusion a fewer number of images are required in order to obtain the same level of precision.

关键词： uncertainty ellipsoid stereoscopy multiple baseline matching disparity optimal weighting

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Research on range observability of 2-dimensional motion target based-on bearing measurements of IR sensor

Research on range observability of 2-dimensional motion targ...

引用

conference on sensor fusion - architectures, algorithms, and applications VI

作者： Yang, GS Chen, J Dou, LH Hou, CZ Beijing Inst Technol Dept Automat Control Beijing 100081 Peoples R China

ISBN: (纸本)0819444812

Considering the target traveling with a constant acceleration in the 2-dimentional space, a mathematical observability criterion of the target states is established in this paper. In the middle of obtaining the criterion, first, the non-linear bearing measurement equation is changed into linear framework by subtly making use of some mathematical transformations. Next, a high-order non-linear differential equation is converted into a set of one-order linear differential equations by utilizing some characteristics of the full-rank matrix. At the end of this paper, the observability criterion given by some previous researchers for the target traveling in a 2-dimentional space with a constant velocity is directly deduced from the criterion presented by this paper.

关键词： observability criterion single station passive locating and tracking bearing-only measurement differential equation full-rank matrix

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Robust fusion with reliabilities weights

Robust fusion with reliabilities weights

引用

conference on sensor fusion - architectures, algorithms, and applications VI

作者： Grandin, JF Marques, M THALES Airborne Syst F-78851 Elancourt France

ISBN: (纸本)0819444812

The reliability is a value of the degree of trust in a given measurement. We analyze and compare : ML (Classical Maximum Likelihood), MLE (Maximum Likelihood weighted by Entropy), MLR (Maximum Likelihood weighted by Reliability), MLRE (Maximum Likelihood weighted by Reliability and Entropy), DS (Credibility Plausibility), DSR (DS weighted by reliabilities) The analysis is based on a model of a dynamical fusion process. It is composed of three sensors, which have each it's own discriminatory capacity, reliability rate, unknown bias and measurement noise. The knowledge of uncertainties is also severely corrupted, in order to analyze the robustness of the different fusion operators. Two sensor models are used : the first type of sensor is able to estimate the probability of each elementary hypothesis (probabilistic masses), the second type of sensor delivers masses on union of elementary hypotheses (DS masses). In the second case probabilistic reasoning leads to sharing the mass abusively between elementary hypotheses. Compared to the classical ML or DS which achieves just 50% of correct classification in some experiments, DSR, MLE, MLR and MLRE reveals very good performances on all experiments (more than 80% of correct classification rate). The experiment was performed with large variations of the reliability coefficients for each sensor (from 0 to 1), and with large variations on the knowledge of these coefficients (from 0 to 0.8). All four operators reveal good robustness, but the MLR reveals to be uniformly dominant on all the experiments in the bayesian case and achieves the best mean performance under incomplete a priori information.

关键词： decisional and dynamical multi sensors fusion robustness imprecision reliability uncertainty

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Data fusion approach to the threat assessment for the radar resources management

Data fusion approach to the threat assessment for the radar ...

引用

conference on sensor fusion - architectures, algorithms, and applications VI

作者： Komorniczak, W Pietrasiniski, J Solaiman, B Mil Univ Technol Fac Elect PL-00908 Warsaw Poland

ISBN: (纸本)0819444812

The paper deals with the problem of the multifunction radar resources management. The problem consists of target/tasks ranking and tasks scheduling. The paper is focused on the target ranking, with the data fusion approach. The data from the radar (object's velocity, range, altitude, direction etc.), IFF system (Identification Friend or Foe) and ESM system (Electronic Support Measures - information concerning threat's electro-magnetic activities) is used to decide of the importance assignment for each detected target. The main problem consists of the multiplicity of various types of the input information. The information from the radar is of the probabilistic or ambiguous imperfection type and the IFF information is of evidential type. To take the advantage of these information sources the advanced data fusion system is necessary. The system should deal with the following situations: fusion of the evidential and fuzzy information, fusion of the evidential information and a priori information. The paper describes the system which fuses the fuzzy and the evidential information without previous change to the same type of information. It is also described the proposal of using of the dynamic fuzzy qualifiers. The paper shows the results of the preliminary system's tests.

关键词： multifunction radar resources management priority assignment

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Ontology-based multi-agent approach to data fusion

Ontology-based multi-agent approach to data fusion

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conference on sensor fusion - architectures, algorithms, and applications VI

作者： Obitko, M Smid, J Czech Tech Univ Fac Elect Engn Dept Cybernet CR-16635 Prague Czech Republic

ISBN: (纸本)0819444812

In this paper, we describe an ontology based multi-agent approach to data fusion from heterogeneous data sources. We assume that the data can come from various sensors or databases. In our approach, each data source is handled by one agent. The agent is able to deliver the data and the description of the data. The data description is provided in the form of specialized ontology. This description is the basis for fusion and integration of data from different sources or agents. A specialized agent fuses the data by evaluating these descriptions under the given query. Since data source agents themselves maintain the description of the data, the whole system of data sources is extensible. This means that a new data source agent may enter the system of data sources at any time. After proper registration with the fusion agent, a new agent can contribute to the overall process. The fusion agent is requested to provide data from different sources with type and location specification. The possible process outcomes are fused data, transformation rules or a failure message. After finding fusion rules, the agent is able to provide data continuously. In our examples of ontologies, we describe primarily numerical data sources and their relations, however symbolic data fusion is also considered.

关键词： data fusion data integration ontology multi-agent system multiple sources

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Factoring in a priori classifier performance into decision fusion

Factoring in a priori classifier performance into decision f...

引用

conference on sensor fusion - architectures, algorithms, and applications VI

作者： Goebel, K Mysore, SP GE Co Corp Res & Dev Niskayuna NY USA

ISBN: (纸本)0819444812

In this paper we present methods to enhance the classification rate in decision fusion with partially redundant information by manipulating the input to the fusion scheme using a priori performance information. Intuitively, it seems to make sense to trust a more reliable tool more than a less reliable one without discounting the less reliable one completely. For a multi-class classifier, the reliability per class must be considered. In addition, complete ignorance for any given class must also be factored into the fusion process to ensure that all faults are equally well represented. However, overly trusting the best classifier will not permit the fusion tool to achieve results that rate beyond the best classifiers performance. We assume that the performance of classifiers to be fused is known, and show how to take advantage of this information. In particular, we glean pertinent performance information from the classifier confusion matrices and their cousin, the relevance matrix. We further demonstrate how to integrate a priori performance information within an hierarchical fusion architecture. We investigate several schemes for these operations and discuss the advantages and disadvantages of each. We then apply the concepts introduced to the diagnostic realm where we aggregate the output of several different diagnostic tools. We present results motivated from diagnosing on-board faults in aircraft engines.

关键词： classification diagnostics information fusion decision fusion a priori information confusion matrix

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Generation and fusion of multiple image representations in automatic corrosion detection algorithms used with shipboard tank video inspection systems

Generation and fusion of multiple image representations in a...

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conference on sensor fusion - architectures, algorithms, and applications VI

作者： Nelson, BN Slebodnick, P Lemieux, EJ Krupa, M Preisser, R Lucas, K GEO CTRS INc Newton Ctr MA 02459 USA

ISBN: (纸本)0819444812

Coatings damage in shipboard tanks is presently assessed using "Certified Coatings Inspectors". Prior to a coatings inspector entering a tank, the tank must be emptied and certified "gas free". These requirements combined with the limited number of certified coatings inspectors available at shipyards and Naval Bases significantly increases the cost and the logistical requirements associated with performing shipboard tank inspections. There is additionally significant variation in damage assessments made by different inspectors. To overcome these difficulties, the Naval Research Laboratory has developed two video inspection systems that obviate requirements for both certifying tanks gas free and for emptying the tank prior to performing an inspection. These systems also obviate requirements for inspector presence during tank inspections. The Naval Research Laboratory has also developed an automatic corrosion detection algorithm. The corrosion detection algorithm currently employs two independent algorithms that individually assess the tank coatings damage. The independent damage assessments are than fused to attain a single coatings damage value. In testing performed to date, it has been shown that the corrosion detection algorithm significantly reduces the effect of inspector-to-inspector variability and provides an accurate assessment of tank coatings damage. This in turn makes it significantly easier to prioritize ship maintenance.

关键词： information fusion image processing automatic corrosion detection

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Scalable distributed data fusion

Scalable distributed data fusion

引用

5th International conference on Information fusion (fusion 2002)

作者： Nicholson, D Lloyd, CM Julier, SJ Uhlmann, JK BAE SYST Ctr Adv Technol Bristol BS34 7QW Avon England USN Res Lab Washington DC 20375 USA Univ Missouri Dept Comp Engn Columbia MO 65211 USA

ISBN: (纸本)0972184414

Measurement and trackfusion in decentralised sensor network architectures is investigated. The investigation employs FLAMES(TM), an advanced military scenario generator. This was specifically customised for distributed data fusion exeriments and involves a model of the delays in a realistic communication system. Here the delays were used to modify, communication bandwidth and evaluate how this affected the performance of the fusion architectures / algorithms. Under certain scenario conditions, it was found that the decentralised measurement fusion system was severely affected by reduced bandwidth. This is because it does not scale: each node loads its communication buffer with every measurement and consequently some measurements are never transmitted. The decentralised trackfusion system is a better performer because it does scale: measurements are fused into tracks prior to transmission and thereby more effective use of bandwidth is made. Moreover, it was found that a partially connected decentralised track fusion system achieved almost optimal fused track performance.

关键词： data fusion tracking network architectures

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Network-centric data fusion

Network-centric data fusion

引用

7th Battlespace Digitization and Network-Centric Warfare conference

作者： Nicholson, D Lloyd, CM Collins, PR BAE SYST Ctr Adv Technol Bristol BS34 7QW Avon England

ISBN: (纸本)081944491X

The performance of three distributed sensor fusion network architectures is investigated: a fully-connected and a partially-connected measurement fusion system and a partially-connected track fusion system. The investigation employs an advanced military scenario generator, FLAMES(TM), which was customised for exercising a range of distributed data fusion experiments. Specifically, it includes a representative model of the delays in a communication system (such as JTIDS or Link 16). Here the delays were used to modify communication bandwidth and to evaluate how this affected the performance of the fusion architectures / algorithms. Under certain specific scenario conditions, it was found that decentralised measurement fusion system was severely affected by reduced bandwidth. This is because each node loads its communication buffer with every measurement and consequently some measurements are never transmitted. The decentralised track fusion system exhibits improved performance because it lumps measurements into tracks and thereby it makes much more effective use of the bandwidth. Moreover, it was found that the performance of the partially connected decentralised track fusion system was very close to the optimal performance achieved by the fully-connected decentralised measurement fusion system.

关键词： data fusion tracking networks architectures

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Design space exploration for energy-efficient secure sensor network

Design space exploration for energy-efficient secure sensor ...

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13th IEEE International conference on applications-Specific Systems, architectures and Processors

作者： Yuan, L Qu, G Univ Maryland Dept Elect & Comp Engn College Pk MD 20742 USA

ISBN: (纸本)0769517129

We consider two of the most important design issues for distributed sensor networks in the battlefield: security for communication in such hostile terrain;and energy efficiency because of battery's limited capacity and the impracticality of recharging. Communication security is normally provided by encryption, i.e., data are encrypted before transmission and will be decrypted first on reception. We exploit the secure sensor network design space for energy efficiency by investigating different microprocessors coupled with various public key algorithms. We propose a power control mechanism for sensors to operate at an energy-efficient fashion using the newly developed dynamical voltage scaling (DVS) technique. In particular we consider multiple voltage processors and insert additional information into the communication channel to guide the selection of proper voltages for data decryption/encryption and processing in order to reduce the total computational energy consumption. We experiment several encryption standards on a broad range of embedded processors and simulate the behavior of the sensor network to show that the sensor's lifetime can be extended substantially.

关键词： Algorithm design and analysis Capacitive sensors Couplings Cryptography Data security Energy efficiency Microprocessors Public key Space exploration Voltage

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