'Institute of Electrical and Electronics Engineers (IEEE)'
Abstract
Journal ArticleThe multisensor kernel system (MKS) is presented as a means for multisensor integration and data acquisition. This system has been developed in the context of a robot work station equipped with various types of sensors utilizing three-dimensional laser range finder data and two-dimensional camera data. Specific goals that have been achieved include 1) Developing a suitable low-level representation of raw data and/or features extracted from the raw data of the various sensors; 2) Providing a method for efficient reconfiguration of the sensor system in terms of "logical" sensors which map onto physical sensors and computation; and 3) Providing a basis for high-level object modeling techniques
