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Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems最新文献

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Adaptive localization of an autonomous mobile robot in natural environments 自主移动机器人在自然环境中的自适应定位
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398470
S. Betgé-Brezetz, R. Chatila, M. Devy, P. Fillatreau, F. Nashashibi
{"title":"Adaptive localization of an autonomous mobile robot in natural environments","authors":"S. Betgé-Brezetz, R. Chatila, M. Devy, P. Fillatreau, F. Nashashibi","doi":"10.1109/MFI.1994.398470","DOIUrl":"https://doi.org/10.1109/MFI.1994.398470","url":null,"abstract":"We focus on the perceptual and decisional functions required for the self-localization of a mobile robot in a natural environment. Two main localization approaches are considered: based on the terrain numerical representations (by elevation map or B-splines), or using explicit object or landmark representations. They are not applicable in the same situations, nor do they yield the same accuracy. In order to take into account the diversity of the possible environment configurations and situations, the scene model is built with heterogeneous representations: on the one hand, a hierarchical numerical \"terrain model\", which involves B-spline surfaces as nonplanar primitives, well adapted to describe the geometry of uneven terrains, and, on the other hand, an \"object model\", which provides a more symbolic description suitable when the scene includes objects laying on a flat ground. The decisional functions which select the better localization strategy and combine them according to the localization task context are discussed.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124812777","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Reliability in decentralised data fusion networks 分散式数据融合网络的可靠性
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398455
S. Utete, H. Durrant-Whyte
{"title":"Reliability in decentralised data fusion networks","authors":"S. Utete, H. Durrant-Whyte","doi":"10.1109/MFI.1994.398455","DOIUrl":"https://doi.org/10.1109/MFI.1994.398455","url":null,"abstract":"We consider a means of ensuring reliable local fusion of data in decentralised sensing networks that are constrained to operate under specific conditions and topologies. The topology limitation can be stated as a constraint to operate on tree-connected and fully connected networks. We remove the limitation on topologies that may be allowed to the network, by the transformation of intermediate networks to valid topologies. We demonstrate that the advantages of this method are two-fold: we can provide survivability through redundancy and allow the network to support a wider range of configurations without breakdown of the data fusion algorithm.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125314895","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 33
Perception planning in mobile robot navigation 移动机器人导航中的感知规划
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398383
H. Xu, J. Vandorpe
{"title":"Perception planning in mobile robot navigation","authors":"H. Xu, J. Vandorpe","doi":"10.1109/MFI.1994.398383","DOIUrl":"https://doi.org/10.1109/MFI.1994.398383","url":null,"abstract":"This paper discusses the perception planning in the navigation of multisensor mobile robots. It is suggested that a perception planner could select sensory data, adjust sensor parameters and select fusion techniques. Utility functions are proposed for the selection of sensory data and their effects are shown. A perception planner can also perform high level uncertainty management such as data monitoring, reasoning and decision making in abnormal situations. An implementation on a mobile robot illustrates this functionality.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126721051","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
Fuzzy logic-based data integration: theory and applications 基于模糊逻辑的数据集成:理论与应用
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398463
M. Abdulghafour, A. Fellah, M. Abidi
{"title":"Fuzzy logic-based data integration: theory and applications","authors":"M. Abdulghafour, A. Fellah, M. Abidi","doi":"10.1109/MFI.1994.398463","DOIUrl":"https://doi.org/10.1109/MFI.1994.398463","url":null,"abstract":"Multisensor systems provide a purposeful description of the environment that a single sensor cannot offer. Because observations provided by sensors are uncertain and incomplete, we adopt the use of fuzzy sets theory as a general framework to combine uncertain measurements. We develop a fusion formula based on the measure of fuzziness. The fusion formula is mathematically tested against several desirable properties of fusion operators. We establish a fuzzification scheme by which different types of input data would be modeled. A defuzzification scheme is carried out to recover crisp data from the combined fuzzy assessment. This approach is implemented and tested with real range and intensity images acquired by an Odetics Laser Range Scanner. The goal is to obtain better scene descriptions through a segmentation process of both images. A method for evaluating segmentation results is presented.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115184851","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 13
Integration of vision and laser displacement sensor for efficient and precise digitizing 集成视觉和激光位移传感器，实现高效、精确的数字化
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398439
Chia-Chun Huang, Yuan F. Zheng
{"title":"Integration of vision and laser displacement sensor for efficient and precise digitizing","authors":"Chia-Chun Huang, Yuan F. Zheng","doi":"10.1109/MFI.1994.398439","DOIUrl":"https://doi.org/10.1109/MFI.1994.398439","url":null,"abstract":"This paper presents a new digitizing technique which integrates a photometric stereo approach with the laser displacement sensors (LDS). The curvature at each element of the surface can be measured cost-effectively by the photometric stereo approach. Once the information of curvature on the surface is provided, the speed of LDS can be improved by digitizing the surface at selected points while the accuracy of digitization is still maintained. Experimental results are provided to verify the proposed method.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"08 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122313572","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 11
On-line trajectory planning for autonomous robotic excavation based on force/torque sensor measurements 基于力/扭矩传感器测量的自主挖掘机器人在线轨迹规划
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398430
Fei-Yue Wang, P. Lever
{"title":"On-line trajectory planning for autonomous robotic excavation based on force/torque sensor measurements","authors":"Fei-Yue Wang, P. Lever","doi":"10.1109/MFI.1994.398430","DOIUrl":"https://doi.org/10.1109/MFI.1994.398430","url":null,"abstract":"This paper describes the authors' initial investigation into on-line trajectory planning for autonomous robotic excavation. A dynamic model for arm/environment interaction is proposed. Excavation trajectories are generated using a trapezoidal velocity profile under the maximum force/torque constraints. A scheme for real-time identification of dynamic arm/environment interaction parameters is implemented with a first-order algorithm of Saridis-Stein stochastic approximation. The result of a simulation study is presented to illustrate the proposed trajectory planning approach.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122986494","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
Multiresolutional multisensor target identification 多分辨率多传感器目标识别
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398412
Z. Korona, M. Kokar
{"title":"Multiresolutional multisensor target identification","authors":"Z. Korona, M. Kokar","doi":"10.1109/MFI.1994.398412","DOIUrl":"https://doi.org/10.1109/MFI.1994.398412","url":null,"abstract":"An algorithm for multiresolutional multisensor target identification is presented. It uses the computationally efficient scale sequential approach to hypothesis testing during identification and implements the inverse discrete wavelet transform to fuse data from different multiresolution sensors. The authors show that fusion leads to an increase in the probability of correct identification without a significant increase in the number of computations.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114469572","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Haptic object recognition with a dextrous hand based on volumetric shape representations 基于体积形状表征的灵巧手的触觉物体识别
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398442
S. Caselli, C. Magnanini, F. Zanichelli
{"title":"Haptic object recognition with a dextrous hand based on volumetric shape representations","authors":"S. Caselli, C. Magnanini, F. Zanichelli","doi":"10.1109/MFI.1994.398442","DOIUrl":"https://doi.org/10.1109/MFI.1994.398442","url":null,"abstract":"A haptic object recognition methodology suitable for application with a multifingered robot hand is presented. The methodology exploits the peculiar features of robot hands such as their distributed sensoriality and parallel kinematics for fast acquisition of contact data, and is based on volumetric representation models for efficient dynamic integration of the perceived information. Experimental results demonstrate the effectiveness and applicability of the methodology to non-trivial examples.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128632211","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 31
Modular scalable robot control 模块化可扩展机器人控制
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398465
Arthur G. O. Mutambara, Hugh Durrant-Whyte
{"title":"Modular scalable robot control","authors":"Arthur G. O. Mutambara, Hugh Durrant-Whyte","doi":"10.1109/MFI.1994.398465","DOIUrl":"https://doi.org/10.1109/MFI.1994.398465","url":null,"abstract":"This paper proposes a data fusion and control distribution technique in fully decentralized systems. Nonfully connected control topologies based on internodal transformations are formulated. This is achieved by distributing the state models, observation spaces and control vectors in an information filter based, decentralized control configuration. There is no central processing site and distribution reduces the computational burden at each node. Communication, just as connectedness, is based on internodal transformations and is dynamically defined. Consequently, only relevant information is exchanged between nodes and there is no need for inter-nodal (Channel) filters. The result is a flexible, robust, parallel, scalable and globally optimal control network. The design is implemented using transputer based parallel hardware. Application envisaged is distributed intelligent control for a modular mobile robot. This is composed of independent driven and steered modules, each with its own sensors, communication and control.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128701711","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 12
A failure detection and isolation algorithm for a decentralised multisensor system 分散式多传感器系统的故障检测与隔离算法
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398476
M. Fernandez, H. Durrant-Whyte
{"title":"A failure detection and isolation algorithm for a decentralised multisensor system","authors":"M. Fernandez, H. Durrant-Whyte","doi":"10.1109/MFI.1994.398476","DOIUrl":"https://doi.org/10.1109/MFI.1994.398476","url":null,"abstract":"This paper describes an algorithm for detecting and isolating failures and its application on a multisensor decentralized system. We consider decentralized systems as a network of local processors where communication is performed only between neighbouring nodes. Local observations are taken by each node, and using the information form of the Kalman filter, local information contributions are calculated. These are then communicated and a global estimate is computed. The failure and isolation technique described in this paper is based on the use of multiple models, which describe the changes on the system dynamics when a failure is produced.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"234 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128979055","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
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