DocumentCode :
138352
Title :
A framework for dynamic sensory substitution
Author :
Mkhitaryan, Artashes ; Burschka, D.
Author_Institution :
Fac. of Inf., Tech. Univ. of Munich, Garching, Germany
fYear :
2014
fDate :
14-18 Sept. 2014
Firstpage :
3947
Lastpage :
3954
Abstract :
In this paper we present a framework for dynamic substitution of different sensory modalities with existing physical sensors. Our system is capable of finding the most optimal set of mathematical and physical transformations between two modalities of physical and virtual sensors. It allows a creation of new virtual sensors from given set of physical sensors. The virtual sensing may extend to new sensing modalities for which no direct physical sensors exist. The framework optimizes for a minimal error and optimal observation in the resulting fusion. It is processing the chain for a given spatial measurement and measurement range. The framework is capable of increasing the reliability of acquired data in multi-sensor systems by being able to asses the amount of accumulated errors. We give two examples of real-world applications of this framework in robotic environments.
Keywords :
optimisation; reliability; sensor fusion; sensors; dynamic sensory substitution; mathematical transformations; multisensor systems; physical sensors; physical transformations; reliability; spatial measurement; virtual sensors; Additives; Cameras; Force sensors; Haptic interfaces; Robot sensing systems; Visualization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
Conference_Location :
Chicago, IL
Type :
conf
DOI :
10.1109/IROS.2014.6943117
Filename :
6943117
Link To Document :
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