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Unified fusion system based on bayesian networks for autonomous mobile robots

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Besada Portas, Eva and López Orozco, José Antonio and Cruz García, Jesús Manuel de la (2002) Unified fusion system based on bayesian networks for autonomous mobile robots. In Proceedings of the Fifth International Conference on Information Fusion. Int Soc Information Fusion, pp. 873-880. ISBN 0-9721844-2-2

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Abstract

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.


Item Type:Book Section
Additional Information:

ISF © 2002. International Conference on Information Fusion (Fusion 2002) (5º. 8-11 Jul, 2002. Annapolis, Maryland, EEUU)

Uncontrolled Keywords:Multisensor Fusion System, Bayesian Networks, Autonomous Mobile Robots
Subjects:Sciences > Computer science
ID Code:22005
Deposited On:04 Jul 2013 12:00
Last Modified:07 Feb 2014 10:39

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