NDLI: Hierarchical Sensor Fusion for Building an Occupancy Grid Map using Active Sensor Modules

Content Provider	IEEE Xplore Digital Library
Author	Gon Woo Kim Beom Hee Lee
Copyright Year	2006
Description	Author affiliation: Sch. of Electr. Eng., Seoul Nat. Univ. (Gon Woo Kim; Beom Hee Lee)
Abstract	An algorithm for three level hierarchical sensor fusions has been proposed and applied to environment map building with enhanced accuracy and efficiency. The algorithm was realized through the two new types of sensor module, which are composed a halogen lamp based active vision sensor and a semicircular ultrasonic (US) and infrared (IR) sensor system. In the first level fusion, the US and IR sensor information is utilized in terms of geometric characteristics of the sensor location. In the second level fusion, the output from the US and IR sensors are combined with the sheet of halogen light through a proposed rule base. In the third level fusion, local maps from the first and second level fusion are updated in probabilistic way for a very accurate environment local map. A practical implementation has been carried out to demonstrate the efficiency and accuracy of the proposed hierarchical sensor fusion algorithm in environment map building
Starting Page	2600
Ending Page	2605
File Size	6942723
Page Count	6
File Format	PDF
ISBN	8995003847
DOI	10.1109/SICE.2006.314797
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-18
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	The Institute of Control, Automation and Systems
Subject Keyword	Sensor fusion Infrared sensors Sensor phenomena and characterization Sensor systems Mobile robots Cameras Electronic mail Uncertainty Lamps Data mining occupancy grid map building sensor module
Content Type	Text
Resource Type	Article

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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
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