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检索条件"任意字段=Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2009"

共 283 条记录，以下是11-20 订阅

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Evaluation of Parallel Reduction Strategies for fusion of Sensory information from a Robot Team

Evaluation of Parallel Reduction Strategies for Fusion of Se...

引用

Conference on multisensor, multisource information fusion - architectures, algorithms, and applications

作者： Lyons, Damian M. Leroy, Joseph Fordham Univ Robot & Comp Vis Lab Bronx NY 10458 USA

ISBN: (纸本)9781628416145

The advantage of using a team of robots to search or to map an area is that by navigating the robots to different parts of the area, searching or mapping can be completed more quickly. A crucial aspect of the problem is the combination, or fusion, of data from team members to generate an integrated model of the search/mapping area. In prior work we looked at the issue of removing mutual robots views from an integrated point cloud model built from laser and stereo sensors, leading to a cleaner and more accurate model. This paper addresses a further challenge: Even with mutual views removed, the stereo data from a team of robots can quickly swamp a WiFi connection. This paper proposes and evaluates a communication and fusion approach based on the parallel reduction operation, where data is combined in a series of steps of increasing subsets of the team. Eight different strategies for selecting the subsets are evaluated for bandwidth requirements using three robot missions, each carried out with teams of four Pioneer 3-AT robots. Our results indicate that selecting groups to combine based on similar pose but distant location yields the best results.

关键词： cognitive robotics navigation sensory fusion

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Effects of using a 3D model on the performance of vision algorithms

Effects of using a 3D model on the performance of vision alg...

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multisensor, multisource information fusion: architectures, algorithms, and applications 2015

作者： Benjamin, D. Paul Lyons, Damian Lynch, Robert Pace University 1 Pace Plaza New YorkNY10038 United States Fordham University 340 JMH 441 E. Fordham Rd. BronxNY10458 United States Analytic Information Fusion Systems LLC 36 Haley's Way Old MysticCT06372 United States

ISBN: (纸本)9781628416145

In previous work, we have shown how a 3D model can be built in real time and synchronized with the environment. This world model permits a robot to predict dynamics in its environment and classify behaviors. In this paper we evaluate the effect of such a 3D model on the accuracy and speed of various computer vision algorithms, including tracking, optical flow and stereo disparity. We report results based on the KITTI database and on our own videos. © 2015 SPIE.

关键词： Computer vision

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multisensor, multisource information fusion: architectures, algorithms, and applications 2013

Multisensor, Multisource Information Fusion: Architectures, ...

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multisensor, multisource information fusion: architectures, algorithms, and applications 2013

ISBN: (纸本)9780819495471

The proceedings contain 22 papers. The topics discussed include: affordable non-traditional source data mining for context assessment to improve distributed fusion system robustness;considerations for multiple hypothesis correlation on tactical platforms;scalable sensor management for automated fusion and tactical reconnaissance;efficiently applying uncertain implication rules to the transferable belief model;a methodology for hard/soft information fusion in the condition monitoring of aircraft;using classifier fusion to improve the performance of multiclass classification problems;generalized information fusion and visualization using spatial voting and data modeling;real-time tracking and fast retrieval of persons in multiple surveillance cameras of a shopping mall;spatial voting for automatic feature selection, fusion, and visualization;and fusion of data from multiple sensors with model-based data analysis.

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multisensor, multisource information fusion: architectures, algorithms, and applications 2009

Multisensor, Multisource Information Fusion: Architectures, ...

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multisensor, multisource information fusion: architectures, algorithms, and applications 2009

ISBN: (纸本)9780819476111

The proceedings contain 24 papers. The topics discussed include: evaluation of a color fused dual-band NVG;TRICLOBS portable triband color lowlight observation system;ACT-Vision: active collaborative tracking for multiple PTZ cameras;manned/unmanned common architecture program (MCAP) net centric flight tests;a multi-layer network architecture for dynamic resource configuration and management of multiple mobile resources in maritime surveillance;semantic enrichment of multi-intelligence data within a net-centric environment;an integrated multi-source JDL high-level fusion architecture using recombinant cognition synthesis;data fusion engine (DFE) for the force protection joint experiment (FPJE);explosive detection in the presence of clutter by processing Raman spectra with a kernel adatron;and Energy Logic (EL): a novel fusion engine of multi-modality multi-agent data/information fusion for intelligent surveillance systems.

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Integrated Multi-sensor fusion for Mapping and Localization in Outdoor Environments for Mobile Robots

Integrated Multi-sensor Fusion for Mapping and Localization ...

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Conference on multisensor, multisource information fusion - architectures, algorithms, and applications

作者： Emter, Thomas Petereit, Janko Fraunhofer Inst Optron Syst Technol & Image Explo Karlsruhe Germany

ISBN: (纸本)9781628410587

An integrated multi-sensor fusion framework for localization and mapping for autonomous navigation in unstructured outdoor environments based on extended Kalman filters (EKF) is presented. The sensors for localization include an inertial measurement unit, a GPS, a fiber optic gyroscope, and wheel odometry. Additionally a 3D LIDAR is used for simultaneous localization and mapping (SLAM). A 3D map is built while concurrently a localization in a so far established 2D map is estimated with the current scan of the LIDAR. Despite of longer run-time of the SLAM algorithm compared to the EKF update, a high update rate is still guaranteed by sophisticatedly joining and synchronizing two parallel localization estimators.

关键词： multi-sensor fusion extended Kalman filter particle filter SLAM autonomous mobile robot asynchronous fusion 3D LIDAR mapping

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Probabilistic Multi-source Multi-INT Intel fusion Benefit Analysis

Probabilistic Multi-source Multi-INT Intel Fusion Benefit An...

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Conference on multisensor, multisource information fusion - architectures, algorithms, and applications

作者： Wisniewski, Ski (David) Hershey, Paul Raytheon 302 Sci Pk Rd State Coll PA 16802 USA Raytheon Dulles VA 20166 USA

ISBN: (纸本)9781628410587

The Process for Probabilistic Multi-Source Multi-INT Intel fusion Benefit Analysis** (PIFBA) provides a methodology for statistically computing the probability of detecting, locating, and tracking objects in order to assess current capabilities or the benefit of adding or removing ISR assets in order to obtain the statistically optimal result. The PIFBA process defines the approach to calculate the probabilistic benefits or rewards associated with integrating or fusing multisource multi-INT products across a wide range of platforms, sensors, environmental conditions and target objects. This process applies to analyzing ISR capabilities, effectiveness, and gaps, as well as the benefits of applying existing or new technology and tactics. The PIFBA process was designed to answer the following questions: Based on the defined ISR assets - what is the probability that we know a piece of Intel with sufficient accuracy and timeliness to be of value to the analyst or warfighter? What is the benefit of adding new data via additional platforms, sensors, or processing? What is the benefit of adding new systems or technology and to what degree of performance must they exhibit in order to affect the statistical outcome?

关键词： Multi-Source Multi-INT fusion Automated Decision Aides ISR Statistical Computation Probability of Detecting, Locating, and Tracking Processing, Exploitation, Dissemination (PED)

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Hybrid fusion and demosaicing algorithm with near-infrared image

Hybrid fusion and demosaicing algorithm with near-infrared i...

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Conference on multisensor, multisource information fusion - architectures, algorithms, and applications

作者： Luo, X. Y. Zhang, J. Dai, Q. H. Beihang Univ Image Proc Ctr Sch Astronaut Beijing 100191 Peoples R China Beihang Univ Sch Elect & Informat Engn Natl Key Lab CNS ATM Beijing 100191 Peoples R China Tsinghua Univ Tsinghua Natl Lab Informat Sci & Technol Dept Automat Beijing 100084 Peoples R China

ISBN: (纸本)9781628410587

In this paper, we propose a unified framework for color filter array (CFA) interpolation and visible/NIR image combination. The proposed method aims to reconstruct a high quality image from raw CFA data and the corresponding NIR image, similar to a multi-spectral fusion of color and NIR images. Based on NIR image, we impose a sparse constraint of gradient difference to modify the traditional color interpolation. The experiments indicate the effectiveness of our hybrid scheme to acquire joint color and NIR information in real-time, and show that this hybrid process can generate a better color image when compared with treating interpolation and fusion separately.

关键词： Color filter array demosaicing hybrid interpolation image fusion

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Control fusion for Safe Multi-Robot Coordination

Control Fusion for Safe Multi-Robot Coordination

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Conference on multisensor, multisource information fusion - architectures, algorithms, and applications

作者： Bostelman, Roger Marvel, Jeremy NIST Intelligent Syst Div Engn Lab Gaithersburg MD 20899 USA

ISBN: (纸本)9781628410587

Future smart manufacturing systems will include more complex coordination of mobile manipulators (i.e., robot arms mounted on mobile bases). The National Institute of Standards and Technology (NIST) conducts research on the safety and performance of multiple collaborating robots using a mobile platform, an automatic guided vehicle (AGV) with an onboard manipulator. Safety standards for robots and industrial vehicles each mandate their failsafe control, but there is little overlap between the standards that can be relied on when the two systems are combined and their independent controllers make collaborative decisions for safe movement. This paper briefly discusses previously uncovered gaps between AGV and manipulator standards and details decision sharing for when manipulators and AGVs are combined into a collaborative, mobile manipulator system. Tests using the NIST mobile manipulator with various control methods were performed and are described along with test results and plans for further, more complex tests of implicit and explicit coordination control of the mobile manipulator.

关键词： mobile manipulator safety safety standards test methods control coordination

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multisensor fusion with non-optimal decision rules: the challenges of "open world" sensing

Multisensor fusion with non-optimal decision rules: the chal...

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Conference on multisensor, multisource information fusion - architectures, algorithms, and applications

作者： Minor, Christian Johnson, Kevin Nova Res Inc Alexandria VA 22308 USA Naval Res Lab Washington DC 20375 USA

ISBN: (纸本)9781628410587

In this work, simple, generic models of chemical sensing are used to simulate sensor array data and to illustrate the impact on overall system performance that specific design choices impart. The ability of multisensor systems to perform multianalyte detection (i.e., distinguish multiple targets) is explored by examining the distinction between fundamental design-related limitations stemming from mismatching of mixture composition to fused sensor measurement spaces, and limitations that arise from measurement uncertainty. Insight on the limits and potential of sensor fusion to robustly address detection tasks in realistic field conditions can be gained through an examination of a) the underlying geometry of both the composition space of sources one hopes to elucidate and the measurement space a fused sensor system is capable of generating, and b) the informational impact of uncertainty on both of these spaces. For instance, what is the potential impact on sensor fusion in an open world scenario where unknown interferants may contaminate target signals? Under complex and dynamic backgrounds, decision rules may implicitly become non-optimal and adding sensors may increase the amount of conflicting information observed. This suggests that the manner in which a decision rule handles sensor conflict can be critical in leveraging sensor fusion for effective open world sensing, and becomes exponentially more important as more sensors are added. Results and design considerations for handling conflicting evidence in Bayes and Dempster-Shafer fusion frameworks are presented. Bayesian decision theory is used to provide an upper limit on detector performance of simulated sensor systems.

关键词： multisensor systems data fusion interferants open-world sensing Dempster-Shafer theory

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LIDAR Image Recovery by Incorporating Heterogeneous Imaging Modalities

LIDAR Image Recovery by Incorporating Heterogeneous Imaging ...

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Conference on multisensor, multisource information fusion - architectures, algorithms, and applications

作者： Cloninger, Alexander Czaja, Wojciech Univ Maryland Norbert Wiener Ctr College Pk MD 20742 USA

ISBN: (纸本)9781628410587

As new imaging modalities arise, the problem of inpainting becomes increasing important. Typical techniques for inpainting are completely determined by the penalization term used in the optimization scheme. These methods range from minimizing over total variation to finding a sparsest solution in a given basis to minimizing the Ginzburg-Landau energy. In this paper, we propose a novel approach to inpainting of remote sensing images, which uses previous measurements taken from heterogeneous image soures in conjunction with these well studied penalization methods. These previous measurements could be images with different illumination or weather conditions, images with spatio-temporal changes, or even all together different imaging modalities. Our approach utilizes manifold learning techniques such as diffusion maps or Laplacian eigenmaps that are applied to each image. This is followed by learning a rotation between the two feature spaces in an effort to place data points from both images in a common feature space. Then, we apply a novel preimage algorithm to the fused data in conjunction with an inpainting penalization method to recreate the missing pixels.

关键词： LIDAR Cameras Reconstruction algorithms Image fusion Data fusion Image restoration Denoising Dimension reduction Image quality Sensors

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