NDLI: Features Selection for Sensor Fusion in a Demining Robot

Content Provider	IEEE Xplore Digital Library
Author	Larionova, S. Marques, L. de Almeida, A.T.
Copyright Year	2005
Description	Author affiliation: Institute of Systems and Robotics University of Coimbra Polo II, 3030-290 Coimbra, Portugal, sveta@isr.uc.pt (Larionova, S.)
Abstract	Humanitarian demining is a dangerous and time consuming task which leads to more victims among deminers. Thus large efforts are being made worldwide in order to develop autonomous robots able to detect landmines without human participation. Any single sensor currently available for antipersonnel landmine detection can not provide the required detection/false alarm ratio, thus a combination of several sensors together with sensor fusion techniques is used. One of the main problems in the practical implementation of sensor fusion for a demining robot is the lack of experimental data for training the algorithms. Formally using a small training and evaluation set does not allow to take conclusions about the results of sensor fusion. This work presents a sensor fusion strategy which helps to overcome the problem of having few experimental data by creating an unified landmine signatures database. Using this database for sensor fusion in general and for features selection in particular is described. In addition to commonly used statistical features several new features are proposed which reflect the shape and the nature of the object. Moreover the designed ROIs extraction algorithm provides additional information allowing to improve features extraction. The results of features selection using a combination of Mutual information and Hausdorff distance are presented. Preliminary results of sensor fusion for pulsed and continuous metal detectors are also presented.
Starting Page	3175
Ending Page	3180
File Size	385717
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570599
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sensor fusion Robot sensing systems Landmine detection Spatial databases Humans Shape Algorithm design and analysis Data mining Feature extraction Mutual information
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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