Demining sensor modeling and feature-level fusion by Bayesian networks

A method for obtaining the Bayesian network (BN) representation of a sensor´s measurement process is developed so that the problems of sensor fusion and management can be approached from a unified point of view. Uncertainty, reliability, and causal information embedded in the sensor data are used to build the BN model of a sensor. The method is applied to model ground-penetrating radar, electromagnetic induction, and infrared sensors for humanitarian demining. Structural and parameter learning algorithms are employed to encode relationships among mine features, sensor measurements, and environmental conditions in the BN model. Inference is used to estimate target features in the presence of heterogeneous soil and varying environmental conditions. A multisensor fusion technique operating on BN models is developed to exploit the complementarity of the sensor measurements. Through the same approach, a BN classifier is obtained to estimate the target typology. The BN models and classifier also compute so-called confidence levels that quantify the uncertainty associated with the feature estimates and the classification decisions. The effectiveness of the approach is demonstrated by implementing these BN tools for the detection and classification of metal and plastic landmines that are characterized by different shape, size, depth, and metal content. Through BN fusion, the accuracy of the feature estimates is improved by up to 64% with respect to single-sensor measurements, and the number of objects that are both detected and classified is increased by up to 62%.