Title :
A New Estimation Method for Multisensor Fusion by using Interval Analysis and Particle Filtering
Author :
Gning, Amadou ; Abdallah, Fahed ; Bonnifait, Philippe
Author_Institution :
HEUDIASYC, Univ. de Technologie de Compiegne
Abstract :
This paper presents a new fusion strategy that mixes interval analysis techniques and particle filters for data fusion and state estimation purposes occurring in many robotic perception problems. The method requires a small number of "box particles". This, in fact, answers one of major problems when using particle filters techniques. We report the case study of a land vehicle localization problem and we make a comparison based on real data between the performance of a particle filter and the new developed strategy.
Keywords :
particle filtering (numerical methods); sensor fusion; state estimation; box particle filter; data fusion; interval analysis; land vehicle localization; multisensor fusion; robotic perception; state estimation; Band pass filters; Bayesian methods; Filtering; Intelligent sensors; Noise measurement; Particle filters; Sensor fusion; State estimation; State-space methods; Time measurement; Kalman filter; State filtering and estimation; interval analysis; particle filter; sensor fusion;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.364068