Title :
Adaptive sensor models
Author :
Van Dam, Joris W M ; Krose, Ben J A ; Groen, Franciscus C A
Author_Institution :
Fac. of Math., Amsterdam Univ., Netherlands
Abstract :
In this paper we consider the conversion of sensor data to a probabilistic representation of the environment (occupancy grid). We introduce a neural network which learns these conversions. The conversion of sensor data remains adaptive to changes in either the sensor or its environment. To place this work in a broader context we describe the architecture of our sensor data fusion system in which these conversions are applied. We also introduce the PDOP: a rule for fusing occupancy grids in this system
Keywords :
adaptive systems; mobile robots; neural nets; probability; sensor fusion; PDOP; adaptive sensor models; autonomous mobile robot; data conversion; neural network; occupancy grid fusion; probabilistic representation; sensor data fusion system; Computer science; Mathematical model; Mathematics; Mobile robots; Neural networks; Robot sensing systems; Sensor fusion; Sensor phenomena and characterization; Sensor systems; Uncertainty;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 1996. IEEE/SICE/RSJ International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-3700-X
DOI :
10.1109/MFI.1996.572306
