Expressing Bayesian Fusion as a Product of Distributions: Application in Robotics

More and more fields of applied computer science involve fusion of multiple data sources, such as sensor readings or model decision. However incompleteness of the models prevent the programmer from having an absolute precision over their variables. Therefore bayesian framework can be adequate for such a process as it allows handling of uncertainty.We will be interested in the ability to express any fusion process as a product, for it can lead to reduction of complexity in time and space. We study in this paper various fusion schemes and propose to add a consistency variable to justify the use of a product to compute distribution over the fused variable. We will then show application of this new fusion process to localization of a mobile robot and obstacle avoidance

Classification accuracy increase using multisensor data fusion

The practical use of very high resolution visible and near-infrared (VNIR) data is still growing (IKONOS, Quickbird, GeoEye-1, etc.) but for classification purposes the number of bands is limited in comparison to full spectral imaging. These limitations may lead to the confusion of materials such as different roofs, pavements, roads, etc. and therefore may provide wrong interpretation and use of classification products. Employment of hyperspectral data is another solution, but their low spatial resolution (comparing to multispectral data) restrict their usage for many applications. Another improvement can be achieved by fusion approaches of multisensory data since this may increase the quality of scene classification. Integration of Synthetic Aperture Radar (SAR) and optical data is widely performed for automatic classification, interpretation, and change detection. In this paper we present an approach for very high resolution SAR and multispectral data fusion for automatic classification in urban areas. Single polarization TerraSAR-X (SpotLight mode) and multispectral data are integrated using the INFOFUSE framework, consisting of feature extraction (information fission), unsupervised clustering (data representation on a finite domain and dimensionality reduction), and data aggregation (Bayesian or neural network). This framework allows a relevant way of multisource data combination following consensus theory. The classification is not influenced by the limitations of dimensionality, and the calculation complexity primarily depends on the step of dimensionality reduction. Fusion of single polarization TerraSAR-X, WorldView-2 (VNIR or full set), and Digital Surface Model (DSM) data allow for different types of urban objects to be classified into predefined classes of interest with increased accuracy. The comparison to classification results of WorldView-2 multispectral data (8 spectral bands) is provided and the numerical evaluation of the method in comparison to other established methods illustrates the advantage in the classification accuracy for many classes such as buildings, low vegetation, sport objects, forest, roads, rail roads, etc

Self-Calibration Methods for Uncontrolled Environments in Sensor Networks: A Reference Survey

Growing progress in sensor technology has constantly expanded the number and range of low-cost, small, and portable sensors on the market, increasing the number and type of physical phenomena that can be measured with wirelessly connected sensors. Large-scale deployments of wireless sensor networks (WSN) involving hundreds or thousands of devices and limited budgets often constrain the choice of sensing hardware, which generally has reduced accuracy, precision, and reliability. Therefore, it is challenging to achieve good data quality and maintain error-free measurements during the whole system lifetime. Self-calibration or recalibration in ad hoc sensor networks to preserve data quality is essential, yet challenging, for several reasons, such as the existence of random noise and the absence of suitable general models. Calibration performed in the field, without accurate and controlled instrumentation, is said to be in an uncontrolled environment. This paper provides current and fundamental self-calibration approaches and models for wireless sensor networks in uncontrolled environments

People tracking by cooperative fusion of RADAR and camera sensors

Accurate 3D tracking of objects from monocular camera poses challenges due to the loss of depth during projection. Although ranging by RADAR has proven effective in highway environments, people tracking remains beyond the capability of single sensor systems. In this paper, we propose a cooperative RADAR-camera fusion method for people tracking on the ground plane. Using average person height, joint detection likelihood is calculated by back-projecting detections from the camera onto the RADAR Range-Azimuth data. Peaks in the joint likelihood, representing candidate targets, are fed into a Particle Filter tracker. Depending on the association outcome, particles are updated using the associated detections (Tracking by Detection), or by sampling the raw likelihood itself (Tracking Before Detection). Utilizing the raw likelihood data has the advantage that lost targets are continuously tracked even if the camera or RADAR signal is below the detection threshold. We show that in single target, uncluttered environments, the proposed method entirely outperforms camera-only tracking. Experiments in a real-world urban environment also confirm that the cooperative fusion tracker produces significantly better estimates, even in difficult and ambiguous situations

Multi-Lane Perception Using Feature Fusion Based on GraphSLAM

An extensive, precise and robust recognition and modeling of the environment is a key factor for next generations of Advanced Driver Assistance Systems and development of autonomous vehicles. In this paper, a real-time approach for the perception of multiple lanes on highways is proposed. Lane markings detected by camera systems and observations of other traffic participants provide the input data for the algorithm. The information is accumulated and fused using GraphSLAM and the result constitutes the basis for a multilane clothoid model. To allow incorporation of additional information sources, input data is processed in a generic format. Evaluation of the method is performed by comparing real data, collected with an experimental vehicle on highways, to a ground truth map. The results show that ego and adjacent lanes are robustly detected with high quality up to a distance of 120 m. In comparison to serial lane detection, an increase in the detection range of the ego lane and a continuous perception of neighboring lanes is achieved. The method can potentially be utilized for the longitudinal and lateral control of self-driving vehicles

Review of the mathematical foundations of data fusion techniques in surface metrology

The recent proliferation of engineered surfaces, including freeform and structured surfaces, is challenging current metrology techniques. Measurement using multiple sensors has been proposed to achieve enhanced benefits, mainly in terms of spatial frequency bandwidth, which a single sensor cannot provide. When using data from different sensors, a process of data fusion is required and there is much active research in this area. In this paper, current data fusion methods and applications are reviewed, with a focus on the mathematical foundations of the subject. Common research questions in the fusion of surface metrology data are raised and potential fusion algorithms are discussed

Flexible data input layer architecture (FDILA) for quick-response decision making tools in volatile manufacturing systems

This paper proposes the foundation for a flexible data input management system as a vital part of a generic solution for quick-response decision making. Lack of a comprehensive data input layer between data acquisition and processing systems has been realized and thought of. The proposed FDILA is applicable to a wide variety of volatile manufacturing environments. It provides a generic platform that enables systems designers to define any number of data entry points and types regardless of their make and specifications in a standard fashion. This is achieved by providing a variable definition layer immediately on top of the data acquisition layer and before data pre-processing layer. For proof of concept, National Instruments’ Labview data acquisition software is used to simulate a typical shop floor data acquisition system. The extracted data can then be fed into a data mining module that builds cost modeling functions involving the plant’s Key Performance Factors