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sensor fusion: architectures, algorithms, and applications IV

作者： Nettleton, Eric W. Gibbens, Peter W. Durrant-Whyte, Hugh F. Univ of Sydney New South Wales

This paper presents a closed form solution to the multiple platform simultaneous localization and map building (SLAM) problem. Closed form solutions are presented in both state space and information based forms. A key conclusion of this paper is that the information-state based form offers many advantages over the state space formulation in allowing the SLAM algorithm to be decentralized across multiple platforms. The benefits of operating SLAM in an information form are numerous. The additive properties of the information update make it especially attractive, as does the ability to predict estimates through any direction in time. However, of paramount importance is the well-known ability to decentralize the information filter. A general form of the continuous time inverse covariance matrix for the SLAM problem is presented to determine such properties as the initial and steady state conditions. These properties are investigated to determine their dependence and relationship to both the observation and process noise. Examination of the structure of the general form of the inverse covariance matrix also gives an insight into what information should be communicated between platforms in the decentralized architecture and how it can be managed.

关键词： sensor data fusion

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Micro-strain gauge endoscopic tactile sensor using two sensing elements for tissue manipulation

Micro-strain gauge endoscopic tactile sensor using two sensi...

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sensor fusion: architectures, algorithms, and applications IV

作者： Dargahi, J. Normandeau, M. Milne, J.A. Parameswaran, M. Payandeh, S. Univ of New Brunswick Saint John Canada

Currently available commercial endoscopic graspers do not have any built-in sensors. Thus, the surgeon does not have any tactile feed-back to manipulate tissues safely. This paper reports on the design, fabrication and testing of a semiconductor micro-strain gauge endoscopic tactile sensor. This sensor consists of two semiconductor micro-strain gauge sensors which are positioned at the back face of an endoscopic grasper. It can measure the magnitude and the position of the applied force with only two sensing elements. The amplification system for the strain gauge is also designed and fabricated. It is shown that when a force is applied to the endoscopic grasper, the magnitude of the applied force can be visually seen in an LED device. The position of the applied force is obtained by combining the output from two insulated strain gauges. We have shown that the grasper operates in a wet environment. It exhibits high force sensitivity, large dynamic range, and good linearity. The sensor is integrated with a commercial endoscopic tool. The advantages and disadvantages of the system are also discussed.

关键词： Microsensors

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Audio-video front-end for multimedia applications

Audio-video front-end for multimedia applications

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2000 IEEE International conference on Systems, Man and Cybernetics

作者： Zotkin, Dmitry Duraiswami, Ramani Davis, Larry Haritaoglu, Ismail Univ of Maryland College Park MD United States

applications such as video gaming, virtual reality, multimodal user interfaces, and video conferencing, require systems that can locate and track persons in a room through a combination of visual and audio cues, enhance the sound that they produce, and perform identification. We describe the development of a particular multimodal sensor fusion system that is portable, runs in real time and achieves these objectives. The system employs novel algorithms for acoustical source location, video-based person tracking, and overall system control, which are also described.

关键词： Multimedia systems

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Adaptive resource allocation architecture applied to line tracking

Adaptive resource allocation architecture applied to line tr...

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sensor fusion: architectures, algorithms, and applications IV

作者： Owen, Mark W. Pace, Donald W. SPAWAR Systems Cent San Diego United States

Current line tracker approaches only address resources in the form of memory and processing time requirements. These architecture approaches limit the amount of complex algorithmic processing a line tracker may perform to provide the correct solution. Past approaches include single-hypothesis Kalman filter-based tracking and a-b tracking. Both approaches assume a real time recursive data processing requirement, and are fairly memory intensive. These architectures are not expandable. Recent research has demonstrated the benefits of a multiple hypothesis, multiple model sonar line tracking solution, achieved at significant computational cost. We have developed an adaptive architecture that trades computational resources for algorithm complexity based on environmental conditions. A Fuzzy Logic Rule-Based approach is applied to adaptively assign algorithmic resources to meet system requirements. The resources allocated by the Fuzzy Logic algorithm include (a) the number of hypotheses permitted (yielding multi-hypothesis and single-hypothesis modes), (b) the number of signal models to use (yielding an interacting multiple model capability), (c) a new track likelihood for hypothesis generation, (d) track attribute evaluator activation (for signal to noise ratio, frequency bandwidth, and others), and (e) adaptive cluster threshold control. Algorithm allocation is driven by a comparison of current throughput rates to a desired real time rate. The Fuzzy Logic Controlled (FLC) line tracker, a single hypothesis line tracker, and a multiple hypothesis line tracker are compared on real sonar data. System resource usage results demonstrate the utility of the FLC line tracker.

关键词： sensor data fusion

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Comparison of centralized and distributed tracking algorithms using air to air scenarios

Comparison of centralized and distributed tracking algorithm...

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conference on Signal and Data Processing of Small Targets 2000

作者： Chen, H Kirubarajan, T Bar-Shalom, Y Univ Connecticut Dept Elect & Syst Engn Storrs CT 06269 USA

ISBN: (纸本)0819436747

In this paper we compare the performances of centralized and distributed tracking architectures using a set of fighter aircraft scenarios. The tracking accuracy at platform (local) and global levels is evaluated for track segments with uniform motion and different maneuvering scenarios. We evaluate the effects of target acceleration level, target separations, measurement accuracy, sensor revisit intervals and false alarm rates on the tracking performance at both local and global level. Kalman filter (KF) and Interacting Multiple Model (IMM) estimators with different target kinematic models are compared in terms of root mean square (RMS) position error, RMS velocity error and track purity. The computational requirements of different estimators are also compared. The centralized solution with perfect data association is used as a performance benchmark for comparison. Scenarios considered include target maneuvers up to 3.5g and use measurements from up to 4 sensors on different platforms. Based on simulation results, appropriate estimator/data association options are recommended for different scenario configurations. An important conclusion is that, with the advent of the IMM estimator, the KF is obsolete for problems of this type. Also, the distributed estimator performs 10% worse than the centralized one.

关键词： multisensor-multitarget tracking interacting multiple model estimator multisensor fusion architectures tracking performance evaluation

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Initiating 3-D air target tracks from 2-D naval radar sensor reports

Initiating 3-D air target tracks from 2-D naval radar sensor...

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conference on Signal and Data Processing of Small Targets 2000

作者： Valin, P Aurag, H Kjiri, M Lockheed Martin Canada R&D Dept Montreal PQ H4P 1K6 Canada

ISBN: (纸本)0819436747

The topic studied here involves target tracking of aircraft using naval radar, and can be also used in civilian applications such as airport traffic management. The aim is to initiate a 3-D track from lower-dimensional 2-D radar contact data for 3-D track initiation and/or promotion. Because it is meant to be used at long ranges, the main assumption is that the target is performing rectilinear motion at a given altitude. The solution to this problem will facilitate track management, as all tracks will eventually be three-dimensional. The two cascaded algorithms presented here consist in first determining speed and altitude independently of the actual trajectory, then determining the actual trajectory given the best-fit value for the altitude. The algorithms are shown to work perfectly for noiseless data and adequately enough for typical naval radar parameters. The added sensory components will help resolve the association problem in multiple target scenarios by providing altitude information hidden from the sensors and revealed only through this mathematical modeling and its related algorithmic processing. In addition, the fact that one can deduce speed and altitude at the early stages of tracking permits the elimination of many platform identifications at the outset of the Multi-sensor Data fusion process.

关键词： track initiation track promotion modeling naval radar

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Information value mapping for fusion architectures

Information value mapping for fusion architectures

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International conference on Information fusion

作者： T.J. Peterson M.K. Sundareshan Electrical and Computer Engineering Department University of Arizona Tucson Tucson AZ USA

In assessing a fused sensor system, one considers the quality of the system architecture most often by the capabilities of the individual sensors, and the attributes of the fusion algorithm. Though it is possible to evaluate system performance in an idealized context, and model real-world perturbations as random disturbances, it may be advantageous to treat predictable events as deterministic. Additionally, a priori information is not limited to constraints on the object of interest, but also can be applied to the scene in which the object resides. In this paper, the role of information value mapping in the design of efficient fusion architectures is presented. This concept provides a development tool for general scene modeling that attempts to capture the relative value of each sensor's input related to a given location in the sensed scene. Some general guidelines for the development of information value maps will be outlined. Specific examples illustrate the modeling and implementation methods. The effects of including signal processing methods for modifying the sensor outputs, and hence the information value maps, will be given a particular focus. The use of currently popular image super-resolution algorithms is offered for an illustrative discussion of these methods.

关键词： Signal processing algorithms Layout sensor systems sensor fusion sensor phenomena and characterization System performance Context modeling Predictive models Guidelines Focusing

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Active Distance Measurement based on Robust Artificial Markers as a Building Block for a Service Robot Architecture

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IFAC Proceedings Volumes 2000年第28期33卷 325-330页

作者： Axel Walthelm Ralf Kluthe Institut für Technische Informatik Medizinische Universität zu Lübeck Ratzeburger Allee 160 D23538 Lübeck Germany

Software architectures for service robots have to support flexible combinations of basic algorithms to form complex goal directed behaviors. This paper presents a building block for an active distance measurement: the Glare Laser Range Scanner Robotics *** setup and the intended functionality of GLaRE are described and the more complex algorithms that form modules within GLaRE will be presented in detail. A artificial visual marker is chosen as a point of attention, for which the distances has to be determined. The detection of the marker is distance and orientation invariant and thus suitable for both experimental and practical applications. The overall architectural design of GLaRE will be described.

关键词： Robot vision sensor fusion Robot control architectures

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Video switching and sensor fusion for multi-camera sensing systems

Video switching and sensor fusion for multi-camera sensing s...

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conference on Intelligent Robots and Computer Vision XIX: algorithms, Techniques, and Active Vision

作者： Saxena, M Selvaraj, V Dhareshwar, R Hall, EL Univ Cincinnati Ctr Robot RES Cincinnati OH 45221 USA

ISBN: (纸本)0819438626

With the low cost of solid-state camera systems, it is now possible to include many cameras on a mobile robot or other machine. However, video processing is still relatively expensive. Therefore it is often desirable to share several cameras with a single processor. The purpose of this paper is to describe the design of a video switching system that permits eight cameras to be multiplexed with a single chip. Multiples of eight could also easily be accomplished. The heart of the system is a Maxim video switch. The user simply selects using a three-bit control signal, which camera signal is selected. The output of the video switch is then the desired camera image. One application of this video switch is a four camera input system to a mobile robot being constructed at the University of Cincinnati. Other applications include surveillance and other mobile systems. The decision as to which camera to observe can be made automatically from a computer providing a great versatility. For example, supplemental motion detectors could be used to activate the camera selection for a surveillance system. Higher-level logic has been used on our mobile robot application. Still higher-level logic could be used to fuse the video information in various ways before processing. The significance of this device is that it provides a wealth of video information to be used at the discretion of either a human viewer or automatic system.

关键词： computer vision video switching multiplexing mobile robot

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Model-based fault tolerant control reconfiguration for discrete event systems

Model-based fault tolerant control reconfiguration for discr...

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IEEE conference on Control Technology and applications (CCTA)

作者： G. Provan Yi-Liang Chen Rockwell Science Center Inc. Thousand Oaks CA USA

We describe a novel fault-tolerant approach for discrete-event systems by integrating sensor fusion within a diagnosis and control reconfiguration mechanism. This approach can automatically compute fault-tolerant control/reconfiguration actions which maintain pre-specified control objectives. Our underlying framework is based on model-based diagnostic representations and algorithms, and integrates diagnostics and control reconfiguration for discrete event systems using a single modeling mechanism and suite of algorithms. Given failures in the system, we describe a modeling approach that facilitates diagnostic isolation while performing sensor fusion to minimize false alarms, thereby increasing tolerance to sensor faults as well as (non-measurable) component faults. We show how we can explicitly trade off the false alarm rate with other system constraints.

关键词： Fault tolerant systems Discrete event systems Automatic control sensor fusion sensor systems Fault tolerance Wireless sensor networks Fault diagnosis Control systems sensor phenomena and characterization

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