NDLI: Fuzzy multisensor fusion for autonomous proactive robot perception

Content Provider	IEEE Xplore Digital Library
Author	Weser, M. Jockel, S. Jianwei Zhang
Copyright Year	2008
Description	Author affiliation: Dept. of Inf., Hamburg Univ., Hamburg (Weser, M.; Jockel, S.; Jianwei Zhang)
Abstract	Robot perception still lacks reliability in complex natural environments. A commonly used method to improve perception is to incorporate more sensors with different modalities. This leads to increased computational requirements due to the parallel processing of huge amounts of sensor data. Appropriate sensor fusion methods are needed if contradictory information is provided by different sensors. We propose a feature-based technique to fuse multimodal sensor data using fuzzy rules. Probabilistic methods are avoided by applying fuzzyfication at the feature level. We propose a higher information gain of the available sensors by utilizing robot actions to focus sensors on objects of interest. Therefore sensor readings, algorithms and robot actions are combined into feature detectors. A goal-directed activation of these feature detectors renders parallel processing of all sensor data unnecessary.
Starting Page	2262
Ending Page	2267
File Size	773916
Page Count	6
File Format	PDF
ISBN	9781424418183
ISSN	10987584
DOI	10.1109/FUZZY.2008.4630684
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-06-01
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sensors Robots Robot sensing systems Feature extraction Detectors Lasers Sensor fusion active perception Fuzzy behavior selection autonomous robot multimodal perception
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Artificial Intelligence Theoretical Computer Science Software

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