NDLI: Improved fusion of visual measurements through explicit modeling of outliers

Content Provider	IEEE Xplore Digital Library
Author	Taylor, C.N.
Copyright Year	2012
Description	Author affiliation: The United States Air Force Research Laboratory, USA (Taylor, C.N.)
Abstract	With the recent proliferation of low-cost, light-weight, and high-resolution cameras, significant research has been conducted on utilizing visual sensors within navigation systems. Visual sensors, however, are different from more traditional sensors utilized within estimation systems because cameras do not directly sense the quantity (or its derivative/integral) to be estimated/fused. Instead, the luminance outputs of the camera sensor are processed algorithmically to obtain some other quantity that is used as an input to an estimator. Sample outputs of vision processing algorithms utilized in automated systems include optical flow, feature tracks, or object localization. Unfortunately, the outputs of these algorithms do not conform to the traditional model of the true measurement plus a Gaussian random process. Instead, each of the algorithms occasionally produce spurious outputs (outliers) that deviate significantly from the true value being observed. In addition, the probability of an outlier occurring and its effects on down-stream algorithms are generally unknown. In this paper, we present an estimation approach that explicitly considers the probability of outliers and performs maximum likelihood estimation over a distribution with outliers. In addition to more accurately estimating the final state, the predicted uncertainty of the system is shown to be accurate.
Starting Page	512
Ending Page	517
File Size	565127
Page Count	6
File Format	PDF
ISBN	9781467303859
ISSN	21533598
e-ISBN	9781467303873
DOI	10.1109/PLANS.2012.6236921
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-04-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Government
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
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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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