Title :
A new framework of distributed multisensor fusion for intelligent systems
Author :
Guo, Cheng-He ; Wang, Xiao-Gang ; Qian, Wen-Han ; Lin, Cai-Xing
Author_Institution :
Res. Inst. of Robotics, Shanghai Jiaotong Univ., China
Abstract :
To tackle the complexity of robotic multiple sensor fusion a suitable system structure is urgently required. Most structures at present have a fusion center to deal with information from various sensors located at different points, but unfortunately have no necessary connections between low-level sensors. Consequently the fusion center has more responsibility for communication and signal interpretation, which causes bottle-neck problem. Moreover sensors cannot help each other to improve the task environment recognition efficiency. To overcome the above drawbacks we define the concept of smart sensor at first. Each smart sensor should have five abilities, that is prediction, planning, updating, communication and assimilation. Then we discuss the algorithm of a perception system which consists of several smart sensors. At last we take two application case study as examples to illustrate our new idea
Keywords :
intelligent sensors; robots; sensor fusion; communication; distributed multisensor fusion; intelligent systems; low-level sensors; perception system; robotic multiple sensor fusion; signal interpretation; smart sensor; Central Processing Unit; Intelligent robots; Intelligent sensors; Intelligent systems; Level control; Mobile robots; Robot sensing systems; Sensor fusion; Sensor phenomena and characterization; Sensor systems;
Conference_Titel :
Industrial Technology, 1996. (ICIT '96), Proceedings of The IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
0-7803-3104-4
DOI :
10.1109/ICIT.1996.601631