Title :
Heterogeneous sensors cooperation for an advanced perception system
Author :
Olivier, C. ; Dessoude, O.
Author_Institution :
ETCA/CREA, Lab. Syst. de Perception, Arcueil, France
Abstract :
A third generation robot evolving in a changing world has to model the external events in a way that allows it to operate safely in all circumstances. Hybrid models are well adapted to partially known environments characterized by smooth variations interlaced with almost discontinuous context jumps. An approach is suggested, as far as the external world perception is concerned, where a rough sensor (the hit-or-miss type and dedicated to the context discrimination) operating in parallel with a conventional sensor mounted on the robot is used to enhance the overall state estimation. The design may be optimized. Using the method, context identification and trajectory planning can be achieved for a minimum computational cost increase.<>
Keywords :
State estimation; image recognition; path planning; robots; sensor fusion; state estimation; advanced perception system; context identification; external world perception; heterogeneous sensor cooperation; hit-or-miss type; image sensors; robot; trajectory planning; Design optimization; Electronic mail; Filtering; Hidden Markov models; Layout; Robot sensing systems; Sensor phenomena and characterization; Sensor systems; State estimation; Telephony;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240379
