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检索条件"任意字段=Conference on Sensor Fusion - Architectures, Algorithms, and Applications"

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Non-Linear Compensation of Production Inaccuracies and Material Drift by Adjusting the sensor Data fusion algorithms for Shape Sensing Based on FBG-Optical Fibers

Non-Linear Compensation of Production Inaccuracies and Mater...

引用

International conference on Multisensor fusion and Information Integration for Intelligent Systems (MFI)

作者： Pauer, Hendrikje Ledermann, Christoph Tuschmann, Wilderich Woern, Heinz Karlsruhe Inst Technol Inst Anthropomat & Robot Intelligent Proc Control D-76021 Karlsruhe Germany Karlsruhe Inst Technol Inst Algebra & Geometry D-76021 Karlsruhe Germany

ISBN: (纸本)9781479967315

Shape sensing, where the shape of an object is estimated using fiber optical Fiber Bragg Grating (FBG) sensors, has gained increasing popularity in the last years. While the production process and the applications are different for the various research groups, the basic principle of shape sensing is the same: at certain cross-sections along the observed object, the information of three strain measurements is merged to one curvature information, and the information of these curvatures is then used to estimate the shape with various mathematical theories, depending on the application. Some effort has been made to calibrate and determine the accuracy of the shape sensor, but research on the influence of bad positioning of the Fiber Bragg Gratings seems relatively unattended. In this paper, one aspect of bad FBG positioning, namely inaccurate placement of the FBGs within one cross-section, and its influence on the reconstruction results is investigated. Furthermore, a modified approach for the reconstruction algorithm is presented, improving the reconstruction results for bad FBG placement compared to the conventional approach.

关键词： Bragg gratings fibre optic sensors sensor fusion FBG-optical fibers fiber Bragg grating material drift mathematical theories sensor data fusion algorithms shape sensing Fiber gratings Gratings Robot sensing systems Shape Strain

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New results in semi-supervised learning using adaptive classifier fusion

New results in semi-supervised learning using adaptive class...

引用

conference on Multisensor, Multisource Information fusion - architectures, algorithms, and applications

作者： Lynch, Robert Willett, Peter Analyt Informat Fus Syst LLC Old Mystic CT 06372 USA Univ Connecticut BECE Dept Storrs CT 02841 USA

ISBN: (纸本)9781628410587

In typical classification problems the data used to train a model for each class is often correctly labeled, and so that fully supervised learning can be utilized. For example, many illustrative labeled data sets can be found at sources such as the UCI Repository for Machine Learning (http://***/ml/), or at the Keel Data Set Repository (http://***). However, increasingly many real world classification problems involve data that contain both labeled and unlabeled samples. In the latter case, the data samples are assumed to be missing all class label information, and when used as training data these samples are considered to be of unknown origin (i.e., to the learning system, actual class membership is completely unknown). Typically, when presented with a classification problem containing both labeled and unlabeled training samples, a technique that is often used is to throw out the unlabeled data. In other words, the unlabeled data are not included with existing labeled data for learning, and which can result in a poorly trained classifier that does not reach its full performance potential. In most cases, the primary reason that unlabeled data are not often used for training is that, and depending on the classifier, the correct optimal model for semi-supervised classification (i.e., a classifier that learns class membership using both labeled and unlabeled samples) can be far too complicated to develop.

关键词： Semi-supervised learning Dimensionality reduction Classifier fusion KEEL and UCI Repositories

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Enhancing thermal video using a public database of images

Enhancing thermal video using a public database of images

引用

conference on Multisensor, Multisource Information fusion - architectures, algorithms, and applications

作者： Qadir, H. Kozaitis, S. P. Ali, E. A. Florida Inst Technol Dept Elect & Comp Engn Melbourne FL 32901 USA

ISBN: (纸本)9781628410587

We presented a system to display nightime imagery with natural colors using a public database of images. We initially combined two spectral bands of images, thermal and visible, to enhance night vision imagery, however the fused image gave an unnatural color appearance. Therefore, a color transfer based on look-up table (LUT) was used to replace the false color appearance with a colormap derived from a daytime reference image obtained from a public database using the GPS coordinates of the vehicle. Because of the computational demand in deriving the colormap from the reference image, we created an additional local database of colormaps. Reference images from the public database were compared to a compact local database to retrieve one of a limited number of colormaps that represented several driving environments. Each colormap in the local database was stored with an image from which it was derived. To retrieve a colormap, we compared the histogram of the fused image with histograms of images in the local database. The colormaps of the best match was then used for the fused image. Continuously selecting and applying colormaps using this approach offered a convenient way to color night vision imagery.

关键词： color night vision histogram matching image database image fusion thermal video

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Heterogeneous Data Integration and fusion System based on Metadata Conflict algorithms in USPIOT

Heterogeneous Data Integration and Fusion System based on Me...

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International conference on Wireless Communication and sensor Network (WCSN)

作者： Bao, Jian-min Hu, Tian-tian Pan, Lin Xu, He Hu, Hai-feng Nanjing Univ Posts & Telecommun Key Lab Broadband Wireless Commun & Sensor Networ Nanjing Jiangsu Peoples R China

ISBN: (纸本)9781479970919

With the development of the Internet of Things, data islands and information redundancy which caused by massive heterogeneous data has become a challenge of many commercial applications and scientific research hot spots. First, we proposed and designed a MapReduce data integration and data fusion architecture;then, we established a stable information processing environment and a unified information retrieval interface for users;and then we analyzed MapReduce implementation processes, management processes, and the connection process. Meanwhile we proposed a conflict processing algorithms in processing heterogeneous redundant data problems by using metadata, and applied them to the processing of creating the virtual database using MapReduce technology, eliminating the redundant information to enhance the utilization of data space. Finally, we established the bench system to provide a unified heterogeneous data programming interface and memory management with heterogeneous data integration and fusion for users in our developed platform USPIOT (Ubiquitous Service Platform for Internet Of Things) and achieved better results.

关键词： mapReduce integration fusion heterogeneous data sources

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Fusing kinect sensor and inertial sensors with multi-rate kalman filter

Fusing kinect sensor and inertial sensors with multi-rate ka...

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IET conference on Data fusion and Target Tracking 2014: algorithms and applications

作者： Feng, Shimin Murray-Smith, Roderick School of Computing Science University of Glasgow Glasgow United Kingdom

ISBN: (纸本)9781849198639

This paper presents a sensor fusion approach to fusing Microsoft Kinect sensor and the built-in inertial sensors in a mobile device. A multi-rate Kalman filter is designed and applied for fusing the low-sampling-rate (30Hz) uncertain positions sensed by the Kinect sensor and the high-sampling-rate (90Hz) accelerations measured by the inertial sensors. These sensors have complementary properties. The Kinect can be applied for skeleton tracking, which gives the joints' positions. Meanwhile, the built-in inertial sensors in the mobile device sense the hand motion and the acceleration can be estimated through inertial sensor fusion. Firstly, convert the acceleration estimated with inertial sensors from the body frame into the Kinect coordinate system. Experimental results show that the hand accelerations estimated with the Kinect sensor and the inertial sensors are comparable. Secondly, design and apply a multi-rate Kalman filter for sensor fusion. The sensor fusion helps improve the accuracy of the system state estimation including the position, the velocity and the acceleration. This is of great benefit for combining inertial sensors and the external position sensing device for indoor augmented reality (AR) and other location-aware sensing applications.

关键词： Acceleration

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On Nonlinear Track-to-track fusion with Gaussian Mixtures 17

On Nonlinear Track-to-track Fusion with Gaussian Mixtures

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17th International conference on Information fusion (fusion)

作者： Noack, Benjamin Reinhardt, Marc Hanebeck, Uwe D. KIT Inst Anthropomat & Robot Intelligent Sensor Actuator Syst Lab ISAS Karlsruhe Germany

ISBN: (纸本)9781479916344

The problem of fusing state estimates is encountered in many network-based multi-sensor applications. The majority of distributed state estimation algorithms are designed to provide multiple estimates on the same state, and track-to-track fusion then refers to the task of combining these estimates. While linear fusion only requires the joint cross-covariance matrix to be known, dependencies between estimates in nonlinear estimation problems have to be represented by high-dimensional probability density functions. In general, storing and keeping track of nonlinear dependencies is too cumbersome. However, this paper demonstrates that estimates represented by Gaussian mixtures prove to be an important exception to this rule. The dependency structure can as well be characterized in terms of a higher-dimensional Gaussian mixture. The different processing steps of distributed nonlinear state estimation, i.e., prediction, filtering, and fusion, are studied in light of the joint density representation. The presented concept is complemented with different simpler suboptimal representations of the dependency structure between Gaussian mixture densities.

关键词： Nonlinear estimation distributed estimation unknown dependencies Gaussian mixtures

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A Comprehensive ASIC/FPGA Prototyping Environment for Exploring Embedded Processing Systems for Advanced Driver Assistance applications 14

A Comprehensive ASIC/FPGA Prototyping Environment for Explor...

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International conference on Embedded Computer Systems - architectures, Modeling, and Simulation (SAMOS)

作者： Giesemann, Florian Paya-Vaya, Guillermo Blume, Holger Limmer, Matthias Ritter, Werner Leibniz Univ Hannover Inst Microelect Syst D-30167 Hannover Germany Daimler AG Vis Enhancement D-89081 Ulm Germany

ISBN: (纸本)9781479937707

The development of complex algorithms for advanced driver assistance systems is a challenging task, due to the high innovation rate and processing demands of applications in this field. The development is usually supported by a software development framework that provides an infrastructure (e.g., access to sensor data) that simulates and evaluates the algorithms. One problem, especially with computationally intensive algorithms, is the slow simulation speed. This paper presents a prototyping environment that connects a software development framework with a FPGA-based hardware platform. This allows implementing computationally intensive tasks in hardware. The proposed rapid prototyping system not only reduces the simulation time, thereby allowing the software designer to evaluate algorithmic parameters with quicker feedback, but also allows verifying and evaluating hardware modules for rapid prototyping. A case study is presented in which a traffic sign detection algorithm is implemented on a soft-core processor. By using the hardware implementation the simulation was accelerated by a factor of 65, compared to the pure software implementation.

关键词： rapid prototyping FPGA design space exploration hardware-software-co-simulation

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An Embedded Solution to Visual Mapping for Consumer Drones

An Embedded Solution to Visual Mapping for Consumer Drones

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27th IEEE conference on Computer Vision and Pattern Recognition (CVPR)

作者： Zhou, Guyue Li, Zexiang Liu, Ang Yang, Kang Wang, Tao Hong Kong Univ Sci & Technol Dept Elect & Comp Engn Hong Kong Hong Kong Peoples R China Dafrang Innovat Technol Co Ltd Shenzhen Peoples R China

ISBN: (纸本)9781479943098

In this paper, we propose a real-time visual mapping scheme which can be implemented on a low-cost embedded system for consumer-level ratio control (RC) drones. In our work, a 3-dimensional occupancy grid map is obtained based on an estimated trajectory from data fusion of multiple on-board sensors, composed of two downward-facing cameras, two forward-facing cameras, a GPS receiver, a magnetic compass and an inertial measurement unit (IMU) with 3-axis accelerometers and gyroscopes. Taking the advantages of the low-cost FPGA and ARM NEON intrinsics, we run our visual odometry and mapping algorithms at 10Hz on board. Meanwhile, we also present a hierarchical multi-sensor fusion algorithm to provide a robust trajectory for mapping usage. Finally, we verify the feasibility of our approaches and serval potential applications with experimental results in complex indoor/outdoor environments.

关键词： embedded vision sensor fusion visual mapping sensor fusion MAPPING(MATHEMATICAL) drone honey bees Gyroscopes GPS Receiver Visualization Data fusion Cameras

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The Use of Antenna Radiation Pattern in Node Localisation algorithms for Wireless sensor Networks. 10

The Use of Antenna Radiation Pattern in Node Localisation Al...

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10th International Wireless Communications & Mobile Computing conference (IWCMC)

作者： Mwila, Martin K. Djouani, Karim Kurien, Anish FSATIE TUT Pretoria South Africa Tshwane Univ Technol CSIR Pretoria South Africa Tshwane Univ Technol Pretoria South Africa Univ Paris 12 Creteil France

ISBN: (纸本)9781479909599

Localisation or position determination is one of the most important applications for wireless sensor networks since the locations of the sensor nodes are critical to both network operations and most application level tasks. Numerous techniques for localisation of sensor nodes have been proposed that make use the Received Signal Strength Indicator (RSSI) from sensor nodes due to its simplicity and cost. Most of the research thus far has regarded the RSSI technology as unsuitable for accurate localisation due to the limited accuracy inherent to the current ranging model. These models, however, make the assumption that the antenna radiation pattern is omnidirectional targeted to simplifying the complexity of the algorithms. An increasing number of sensor systems are now deploying directional antennas due to their advantages like energy conservation and better bandwidth utilisation. The study presented by this paper reviews some related works that include the antenna radiation pattern of the sensor node during the localisation process and proposes an efficient approach to increasing localisation accuracy using antenna radiation pattern.

关键词： Antenna Radiation Pattern Node Localisation sensor Data fusion Gauss-Newton Optimisation

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Multi sensor Underwater Pipeline Tracking with AUVs

Multi Sensor Underwater Pipeline Tracking with AUVs

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Oceans conference

作者： Jacobi, Marco Karimanzira, Divas Fraunhofer IOSB AST Ilmenau Germany

ISBN: (纸本)9781479949182

The exploitation of deep-water gas and oilfields is increasing. Pipelines transport the produced oil and gas onshore or transfer these between countries through the water. Underwater communication cables on the seafloor are the backbone of our intercontinental communication infrastructure. Sea cables transfer electrical energy from offshore production facilities or between countries and continents. This infrastructure of our economics and society can corrode or can get damaged. The status of these offshore pipelines and cables needs to be monitored regularly and damages need to be found and repaired quickly. This paper presents a method to guide an autonomous underwater vehicle with the information from different sensors including cameras, multibeam echo sounder (MBES), sub bottom profilers and magnetic sensors. Our online sensor fusion and tracking algorithms for underwater pipeline and cable inspection are based on probability maps which contain the location and the rating of each pipeline detection from every sensor. With these algorithms, we want to improve the regular pipeline inspection. The proposed system will be tested for its performance in simulation with different pipeline layout scenarios. Other applications for this map based fusion algorithm (beside pipeline and cable inspection) can be the mapping of toxic substances in the water column and the search of their sources.

关键词： Data fusion AUV pipeline cable inspection

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