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检索条件"任意字段=Sensor Fusion: Architectures, Algorithms and Applications II"

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Real-time fusion of image and inertial sensors for navigation

Real-time fusion of image and inertial sensors for navigatio...

引用

63rd Annual Meeting of the Institute of Navigation 2007

作者： Fletcher, J. Veth, M. Raquet, J. Air Force Institute of Technology United States Air Force Department of Electrical and Computer Engineering Air Force Institute of Technology Center

ISBN: (纸本)1604232862

As evidenced by many biological systems, the fusion of optical and inertial sensors represents an attractive method for passive navigation. In our previous work, a rigorous theory for optical and inertial fusion was developed for precision navigation applications. The theory was based on a statistical transformation of the feature space based on inertial sensor measurements. The transformation effectively constrained the feature correspondence search to a given level of a priori statistical uncertainty. When integrated into a navigation system, the fused system demonstrated performance in indoor environments which were comparable to that of GPS-aided systems. In order to improve feature tracking performance, a robust feature transformation algorithm (Lowe's SIFT) was chosen. The SIFT features are ideal for navigation applications in that they are invariant to scale, rotation, and illumination. Unfortunately, there exists a correlation between feature complexity and computer processing time. This limits the effectiveness of robust feature extraction algorithms for real-time applications using traditional microprocessor architectures. While recent advances in computer technology have made image processing more commonplace, the amount of information that can be processed is still limited by the power and speed of the CPU. In this paper, a new theory which exploits the highly parallel nature of General Programmable Graphical Processing Units (GPGPU) is developed which supports deeply integrated optical and inertial sensors for real-time navigation. Recent advances in GPGPU technology have made realtime, image-aided navigation a reality. Our approach leverages the existing OpenVIDIA core GPGPU library and commercially available computer hardware to solve the image and inertial fusion problem. The open-source libraries are extended to include the statistical feature projection and matching techniques developed in our previous research. The performance of the new processin

关键词： Inertial navigation systems

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Electromagentic diversity and EMI implications for multiple Co-sited radars and targeting applications

Electromagentic diversity and EMI implications for multiple ...

引用

IEEE International Symposium on Electromagnetic Compatibility, EMC 2007

作者： Drozd, Andrew L. Kasperovich, Irina Ruixin, Niu Varshney, Pramod K. ANDRO Computational Solutions LLC Beeches Technical Campus 7902 Turin Road Ste. 2-1 Rome NY United States Dept. of Electrical Engineering and Computer Science Syracuse University Link Hall Syracuse NY United States

ISBN: (纸本)1424413508

Real-time fusion of data collected from a variety of colocated radars that acquire information in a cooperative manner from multiple perspectives and/or different frequencies, is being shown to provide a more accurate and effective way of tracking complex targets in a multi-target scenario. This is more advantageous than employing a single radar or a group of radars operating independently. This paper describes a cooperative multi-sensor approach in which multiple radars operate together in a non-interference limited manner. A three-fold approach is presented: (i) applying multiobjective joint optimization algorithms to set limits on the operational parameters of the radars to preclude electromagnetic interference;(ii) measuring and processing radar returns in a shared manner for target feature extraction based on electromagnetic diversity principles in conjunction with target scattering cross sections;and (iii) employing feature-aided track/fusion algorithms to detect, discriminate, and follow real targets from clutter noise. The results of computer simulations are provided that demonstrate the advantages of this approach. © 2007 IEEE.

关键词： Extraction

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From Vision to Realtime Motion Control for the RoboCup Domain

From Vision to Realtime Motion Control for the RoboCup Domai...

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IEEE Conference on Control Technology and applications (CCTA)

作者： Dennis Bruijnen Wouter Aangenent Jeroen van Helvoort Rene van de Molengraft Faculty of Mechanical Engineering Technische Universiteit Eindhoven The Netherlands

In this paper, an overview is given of how the path from vision to motion has been developed in the TechUnited team. The vision module includes: (i) color calibration using a union of convex hulls to select an area in the 3D-colorspace, (ii) automatic calibration of the mapping from the camera image to the field via a genetic algorithm, (iii) self localization based on field lines. The output of the vision module is used by the motion module which includes: (i) vision and encoder sensor fusion by monitoring the drift caused by odometry, (ii) generating a motion path complying with the robot's limitations to prevent wheel slippage, (iii) collocated motion control. In contrast to closing the loop on vision, our approach uses wheel encoders as the basis for motion control, which has several advantages such as less delay due to a higher sampling frequency. Vision is only used to compensate for slow drift caused by slip in the wheel-surface contact.

关键词： Motion control Calibration Wheels Motion planning Cameras Genetic algorithms sensor fusion Monitoring fusion power generation Mobile robots

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Electromagnetic Diversity and EMI Implications for Multiple Co-sited Radars and Targeting applications

Electromagnetic Diversity and EMI Implications for Multiple ...

引用

IEEE International Symposium on Electromagnetic Compatibility (EMC)

作者： Andrew Drozd Irina Kasperovich Ruixin Niu Pramod K. Varshney ANDRO Computational Solutions Limited Liability Company Rome NY USA Department of Electrical Engineering & Computer Science Syracuse University Syracuse NY USA

Real-time fusion of data collected from a variety of co-located radars that acquire information in a cooperative manner from multiple perspectives and/or different frequencies, is being shown to provide a more accurate and effective way of tracking complex targets in a multi-target scenario. This is more advantageous than employing a single radar or a group of radars operating independently. This paper describes a cooperative multi-sensor approach in which multiple radars operate together in a non-interference limited manner. A three-fold approach is presented: (i) applying multiobjective joint optimization algorithms to set limits on the operational parameters of the radars to preclude electromagnetic interference; (ii) measuring and processing radar returns in a shared manner for target feature extraction based on electromagnetic diversity principles in conjunction with target scattering cross sections; and (iii) employing feature-aided track/fusion algorithms to detect, discriminate, and follow real targets from clutter noise. The results of computer simulations are provided that demonstrate the advantages of this approach.

关键词： Electromagnetic interference Radar applications Radar tracking Radar scattering Target tracking Radar clutter Radar cross section Radar measurements Electromagnetic scattering Frequency

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The Design of a Web-sensor Network for Environmental Monitoring and Remote Control applications by Data fusion Techniques

The Design of a Web-Sensor Network for Environmental Monitor...

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IEEE Instrumentation and Measurement Technology Conference

作者： Claudio De Capua Stefano De Falco Rosario Morello Dept. of Computer Science and Electrical Technologies University “Mediterranea” of Reggio Calabria Reggio Calabria Italy Department of Electrical Engineering University of Naples “Federico II” Naples Italy

This paper proposes an innovative design of a Web-sensor network for environmental monitoring of the electromagnetic pollution. A remote control application allows to process acquired data and available information by an original data fusion procedure. The aim is to verify the compliance of the exposure levels to electromagnetic field with the limits established from law. The measurement system is a configurable network of wireless and smart Web-sensors distributed along an urban area. The implemented sensing units measure the electromagnetic field in high and low frequency ranges and, by General Packet Radio Service (GPRS) communication, acquired data are transmitted to WEB pages. By means of an original algorithm the whole area is divided in several local zones, where an equal number of sensors has the task to monitor specific zones. The clustering algorithm uses environmental and topographical information in order to configure the network and the monitoring map. So, the number and size of the zones are variable according to the desired resolution. A proposed Statistical Model allows to estimate the reliability curve over time of each sensor in order to get knowledge on its operating state. Starting from the available information, a remote workstation performs the data fusion procedure. Alarm and warning occurrences are singled out. A final report shows the zones which require greater attention so to plan suitable interventions on the area. Quality indexes provide indication on reliability and consistency of the result.

关键词： Remote monitoring Electromagnetic fields Pollution measurement Electromagnetic measurements Clustering algorithms Area measurement Wireless sensor networks Urban areas Frequency measurement Measurement units

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A fusion approach for coarse-to-fine target recognition

A fusion approach for coarse-to-fine target recognition

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Conference on Multisensor, Multisource Information fusion

作者： Folkesson, Martin Gronwall, Christina Jungert, Erland Swedish Def Res Agcy FOI Box 1165 Linkoping Sweden

ISBN: (纸本)0819462985

A fusion approach in a query based information system is presented. The system is designed for querying multimedia data bases, and here applied to target recognition using heterogeneous data sources. The recognition process is coarse-to-fine, with an initial attribute estimation step and a following matching step. Several sensor types and algorithms are involved in each of these two steps. An independence of the matching results, on the origin of the estimation results, is observed. It allows for distribution of data between algorithms in an intermediate fusion step, without risk of data incest. This increases the overall chance of recognising the target. An implementation of the system is described.

关键词： fusion information system target recognition query language attribute knowledge system

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The challenge of scalable and distributed fusion of disparate sources of information

The challenge of scalable and distributed fusion of disparat...

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Conference on Multisensor, Multisource Information fusion

作者： Julier, Simon J. Uhlmann, Jeffrey K. Walters, Joshua Mittu, Ranjeev Palaniappan, Kannappan ITT AES NRL 4555 Overlook Ave Washington DC 20375 USA Univ Missouri Dept Comp Sci Columbia MO 65211 USA Naval Res Lab Washington DC 20375 USA

ISBN: (纸本)0819462985

A key enabler for Network Centric Warfare (NCW) is a sensor network that can collect and fuse vast amounts of disparate and complementary information from sensors that are geographically dispersed throughout the battlespace. This information will lead to better situation awareness so that commanders will be able to act faster and more effectively. However, these benefits are possible only if the sensor data can be fused and synthesized for distribution to the right user in the right form at the right time within the constraints of available bandwidth. In this paper we consider the problem of developing Level 1 data fusion algorithms for disparate fusion in NCW. These algorithms must be capable of operating in a fully distributed (or decentralized) manner;must be able to scale to extremely large numbers of entities;and must be able to combine many disparate types of data. To meet these needs we propose a framework that consists of three main components: an attribute-based state representation that treats an entity state as a collection of attributes, new methods or interpretations of uncertainty, and robust algorithms for distributed data fusion. We illustrate the discussion in the context of maritime domain awareness, mobile adhoc networks, and multispectral image fusion.

关键词： distributed data fusion disparate data fusion generalized Covariance Intersection correlated data MANET maritime domain awareness

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Data fusion in multi sensor platforms for wide-area perception

Data fusion in multi sensor platforms for wide-area percepti...

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IEEE Intelligent Vehicles Symposium

作者： Polychronopoulos, Aris Floudas, Nikos Amditis, Angelos Bank, Dirk van den Broek, Bas Inst Commun & Comp Syst Athens 9 Iroon Polytech St Athens Greece AG Res & Technol D-89081 Ulm Germany TNO Def & Veiligheid NL-2509 JG Den Burg Netherlands

ISBN: (纸本)490112286X

There is a strong belief that the improvement of preventive safety applications and the extension of their operative range will be achieved by the deployment of multiple sensors with wide fields of view (FOV). The paper contributes to the solution of the problem and introduces distributed sensor data fusion architectures- and algorithms for an efficient deployment of multiple sensors that give redundant or complementary information for the moving objects. The proposed fusion architecture is based on a modular approach allowing exchangeability and benchmarking using the output of individual trackers, whereas the fusion algorithm gives a solution to the track management problem and the coverage of wide perception areas. The test case is LATERAL SAFE sensor configuration, which monitors the rear and lateral areas of the vehicle. Results show that with the given approach the system is able to maintain the ID of all objects in transition (an object enters a sensor's FOV) and blind areas (no sensor coverage).

关键词： Data fusion data association ADAS lane change lateral collision warning

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Distributed sensor data compression algorithm

Distributed sensor data compression algorithm

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Conference on Multisensor, Multisource Information fusion

作者： Ambrose, Barry Lin, Freddie Broadata Commun Inc 2545 W 237th St Torrance CA 90505 USA

ISBN: (纸本)0819462985

Theoretically it is possible for two sensors to reliably send data at rates smaller than the sum of the necessary data rates for sending the data independently, essentially taking advantage of the correlation of sensor readings to reduce the data rate. In 200 1, Caltech researchers Michelle Effros and Qian Zhao developed new techniques for data compression code design for correlated sensor data, which were published in a paper at the 2001 Data Compression Conference (DCC 2001). These techniques take advantage of correlations between two or more closely positioned sensors in a distributed sensor network. Given two signals, X and Y, the X signal is sent using standard data compression. The goal is to design a partition tree for the Y signal. The Y signal is sent using a code based on the partition tree. At the receiving end, if ambiguity arises when using the partition tree to decode the Y signal, the X signal is used to resolve the ambiguity. We have extended this work to increase the efficiency of the code search algorithms. Our results have shown that development of a highly integrated sensor network protocol that takes advantage of a correlation in sensor readings can result in 20-30% sensor data transport cost savings. In contrast, the best possible compression using state-of-the-art compression techniques that did not take into account the correlation of the incoming data signals achieved only 9-10% compression at most. This work was sponsored by MDA, but has very widespread applicability to ad hoc sensor networks, hyperspectral imaging sensors and vehicle health monitoring sensors for space applications.

关键词： information theory data compression sensor networks

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Noise reduction method for the multi-sensor system measuring DC current

Noise reduction method for the multi-Sensor system measuring...

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Conference on Multisensor, Multisource Information fusion

作者： Wang, Jing Geng, Yingsan Song, Zhengxiang Wang, Jianhua Xi An Jiao Tong Univ State Key Lab Elect Insulat & Power Equipment Xian 710049 Peoples R China

ISBN: (纸本)0819462985

Multi-sensor system has been proposed to measure electric current in a non-contact way. According to the Ampere's Law, the value of the current flowing in a conductor can be obtained through processing the outputs of the magnetic sensors around the conductor. As the discrete form of the Ampere's Law is applied, measurement noises are introduced when there exists the interference magnetic field induced by nearby current flowing conductors. In this paper, the measurement noises of the multi-sensor system measuring DC current are examined to reveal the impact of the interference magnetic field and the number of the magnetic sensors on the measurement accuracy. A noise reduction method based on Kalman filtering is presented. Computer simulation and experiment results show that the method greatly improves the accuracy without seriously increasing the computation load in comparison with other approaches.

关键词： multi-sensor noises DC current

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