Multisensor Fusion

A Minimal Representation Framework

By: Rajive Joshi, Arthur C. Sanderson

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Hardcover | 15 December 1999

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336 Pages

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22.23 x 15.88 x 1.91

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The fusion of information from sensors with different physical characteristics, such as sight, touch, sound, etc., enhances the understanding of our surroundings and provides the basis for planning, decision-making, and control of autonomous and intelligent machines.The minimal representation approach to multisensor fusion is based on the use of an information measure as a universal yardstick for fusion. Using models of sensor uncertainty, the representation size guides the integration of widely varying types of data and maximizes the information contributed to a consistent interpretation.In this book, the general theory of minimal representation multisensor fusion is developed and applied in a series of experimental studies of sensor-based robot manipulation. A novel application of differential evolutionary computation is introduced to achieve practical and effective solutions to this difficult computational problem.

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Preface
Introduction	p. 1
Introduction to Multisensor Integration	p. 17
Multisensor Data Fusion	p. 25
Multisensor Fusion in Object Recognition	p. 43
Minimal Representation	p. 57
Environment and Sensor Models	p. 75
Minimal Representation Multisensor Fusion and Model Selection	p. 91
Multisensor Fusion Search Algorithms	p. 125
Applying the Abstract Framework to Concrete Problems	p. 151
Multisensor Object Recognition in Two Dimensions	p. 155
Multisensor Object Recognition in Three Dimensions	p. 173
Laboratory Experiments	p. 203
Discussion of Experimental Results	p. 225
Conclusion	p. 237
App. A: List of Symbols	p. 247
Object-Oriented Software Architecture	p. 251
Error Residuals	p. 257
Mixture Distributions	p. 250
Properties of Mixture Representation Size	p. 263
Computing Two-Dimensional Pose from Vision and Touch Data	p. 267
Computing Three-Dimensional Pose from Grasp Data	p. 271
Quaternion Algebra	p. 275
Computing Three-Dimensional Pose from Vision and Touch Data	p. 279
Bibliography	p. 291
Index	p. 306
Table of Contents provided by Blackwell. All Rights Reserved.

Multisensor Fusion

A Minimal Representation Framework

At a Glance

Hardcover

Shipping

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Defective items

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