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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Schoenberg, J.R. Campbell, M. |
| Copyright Year | 2009 |
| Description | Author affiliation: Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14853, USA (Schoenberg, J.R.; Campbell, M.) |
| Abstract | This paper describes a planar grid-based distributed terrain height estimation algorithm for use in a distributed data fusion sensor network. Each sensor node in the network represents the terrain using a Gaussian mixture to represent the elevation density in each grid cell. The local sensor node uses a rigorous probabilistic analysis of sensor measurement errors to associate individual measurements with multiple grid cells to account for in-plane uncertainty. Representing the elevation density in each grid cell as a sum of Gaussian distributions leads to a convenient channel filter implementation for distributed data fusion. The new information exchanged between nodes is assimilated locally to generate a global terrain height estimate on each sensor node. The distributed terrain height algorithm is demonstrated in a laboratory test environment using data from three sensor nodes over a 60 second data collection. The distributed terrain height algorithm is shown to perform equivalent to the centralized case even in the presence of communication failures. |
| Starting Page | 960 |
| Ending Page | 967 |
| File Size | 3555386 |
| Page Count | 8 |
| File Format | |
| ISBN | 9780982443804 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-07-06 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | ISIF |
| Subject Keyword | Terrain mapping Simultaneous localization and mapping Mobile robots Robot sensing systems Mechanical sensors Laser modes Aerospace engineering Sensor fusion Sensor phenomena and characterization Measurement errors terrain mapping Distributed data fusion |
| Content Type | Text |
| Resource Type | Article |
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