Unified fusion system based on Bayesian networks for autonomous mobile robots.
A multisensor fusion system that is usedfor estimating the location of a robot and the state of the objects around is presented. The whole fusion system has been implemented as a Dynamic Bayesian Networks (DBN) with the purpose of having a homogenous and formalized way of capturing the dependencies...
| Autores: | , , |
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| Tipo de recurso: | capítulo de libro |
| Fecha de publicación: | 2002 |
| País: | España |
| Institución: | Universidad Complutense de Madrid (UCM) |
| Repositorio: | Docta Complutense |
| Idioma: | inglés |
| OAI Identifier: | oai:docta.ucm.es:20.500.14352/60848 |
| Acceso en línea: | https://hdl.handle.net/20.500.14352/60848 |
| Access Level: | acceso abierto |
| Palabra clave: | 004 Multisensor Fusion System Bayesian Networks Autonomous Mobile Robots. Informática (Informática) 1203.17 Informática |
| Sumario: | A multisensor fusion system that is usedfor estimating the location of a robot and the state of the objects around is presented. The whole fusion system has been implemented as a Dynamic Bayesian Networks (DBN) with the purpose of having a homogenous and formalized way of capturing the dependencies that exist between the robot location, the state of the environment, and all the sensorial data. At this stage of the research it consists of two independent DBNs, one for estimating the robot location and another for building an occupancy probabilistic map of the environment, which are the basis of a unified fusion system. The dependencies of the variables and information in the two DBN will be captured by a unique DBN constructed by adding arcs (and nodes if necessary) between the two DBN. The DBN implemented so far can be used in robots with different sets of sensors. |
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