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1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems (Cat. No.96TH8242)

8-11 Dec. 1996

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Displaying Results 1 - 25 of 112
  • International Conference on Multisensor Fusion and Integration for Intelligent Systems [front matter]

    Publication Year: 1996, Page(s):i - xv
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    Freely Available from IEEE
  • Instrumented sensor systems

    Publication Year: 1996, Page(s):193 - 200
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (646 KB)

    In modeling and designing sensor systems, there is always a tradeoff between increasing the robustness of the sensor system and increasing the efficiency of sensor use. To compare alternative solutions, we need to define quantitative measures that capture the required sensor system characteristics such as time and space complexity, robustness, error variance, etc. Our goal is to develop tools to a... View full abstract»

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  • Decision-theoretic multisensor planning and integration for mobile robot navigation

    Publication Year: 1996, Page(s):517 - 524
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (902 KB)

    A decision-theoretic approach to multisensor planning and integration is investigated. The decision-theoretic framework allows for rational decision making under uncertainty and furthermore a highly modular system description that facilitates easy system integration. Experiments with a real robot show that the decision-theoretic sensor planner is capable of making rational real-time decisions abou... View full abstract»

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  • Proceedings 13th TRON Project International Symposium /TEPS '96

    Publication Year: 1996
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    Freely Available from IEEE
  • Conference Author Index

    Publication Year: 1996, Page(s):845 - 848
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    Freely Available from IEEE
  • Correcting mismatch in a data fusion system for ultrasonic mapping with a mobile robot

    Publication Year: 1996, Page(s):749 - 756
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (708 KB)

    The goal of an ultrasonic mapping system is to produce an outline of the room from range data sensed by the robot as it moves through the room. An ultrasonic sensor measures the range to the nearest object from the time-of-flight to the first echo. By fusing sensing with robot motion, low-level features can be extracted from range data. Mismatch between measurements of motion with range sensing an... View full abstract»

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  • Fusion of multiple ultrasonic sensor data and imagery data for measuring moving obstacle's motion

    Publication Year: 1996, Page(s):742 - 748
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (476 KB)

    Two different functions, intensive and wide-angle observations, are required for robot vision. In this research, multiple ultrasonic sensors are selected for wide-angle observation, and an image sensor for the intensive observation, and methods of measuring moving obstacle motion are proposed by two kinds of fusion: 1) fusion of the two different sensor data, and 2) fusion of multiple ultrasonic s... View full abstract»

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  • Development of a fish-eye VR system with human visual functioning and biological signals

    Publication Year: 1996, Page(s):389 - 394
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    Present VR systems fall short of producing a true sense of reality. If we understand functioning on human senses, we will be able to generate imaginary space using minimum information. In the case of vision, the human eyesight fails from the center to the periphery of visual field. In this paper, we focus on this functioning, and propose a VR system, where one of biological signals, EOG (electro-o... View full abstract»

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  • Optimal wall pose determination in a shared-memory multi-tasking control architecture

    Publication Year: 1996, Page(s):736 - 741
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    In previous work, we (1996) proposed a new technique for the recovery of planar surfaces using two beam-spread sonar readings. In this paper, we present an implementation of this technique in a wall-following algorithm using two sonar readings. This program is used as a client in a sensor-based distributed control scheme for mobile robots View full abstract»

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  • Multi-sensor control system for rescue robot

    Publication Year: 1996, Page(s):381 - 387
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (652 KB)

    This paper describes the multisensor control system for rescue robot, which is necessary to save a human life at the great disaster. Basically this type of robot is controlled by human operator, but it needs an autonomous control function for safe and fast reaction. Here, we made a model of rescue robot whose hand provides the distributed tactile sensors; the force/torque sensor and the slip senso... View full abstract»

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  • Fusing binaural sonar information for object recognition

    Publication Year: 1996, Page(s):727 - 735
    Cited by:  Papers (3)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (684 KB)

    An active binaural sonar using Polaroid electrostatic transducers positioned at the end of a robot arm is described, which adaptively changes its location and configuration in response to the echoes it observes in order to recognize an object. The sonar mimics biological echolocation systems, such as bats and dolphins. Using information in the echoes, the sonar translates in a horizontal plane and... View full abstract»

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  • Sensor-based obstacle modeling in configuration space for manipulator motion planning

    Publication Year: 1996, Page(s):265 - 272
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (528 KB)

    This paper presents an approach to sensor-based obstacle modeling in a configuration space for manipulator motion planning in unknown environments. In order to achieve this objective, an efficient algorithm is used to fast map obstacles based on defined fundamental obstacles in the workspace and their images in the configuration space. A robotic manipulator is assumed to be equipped with “di... View full abstract»

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  • The dead reckoning localization system of the wheeled mobile robot ROMANE

    Publication Year: 1996, Page(s):603 - 610
    Cited by:  Papers (21)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (684 KB)

    This paper describes the dead reckoning localization system of the wheeled mobile robot ROMANE (Robot Mobile Autonome de Navigation de Exterieur). We are interested in quantifying the vehicle position estimation in an outdoor environment. The accuracy of position estimation by incremental shaft encoders on the wheels is very limited due to the poor quality of the rotational vehicle speed measureme... View full abstract»

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  • An onboard measurement system of gravity gradients using inertial accelerometers

    Publication Year: 1996, Page(s):108 - 115
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (568 KB)

    A method of making possible the onboard measurement of gravity gradients is proposed in this paper. First, analytical solutions of gravity gradients are derived as the second order spatial gradients of the gravitational potential in the conservative field. Next, it is shown that the gravity gradients can be obtained from the outputs of inertial accelerometers placed some distance away from each ot... View full abstract»

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  • Multi-sensors localization for control of autonomous mobile robot

    Publication Year: 1996, Page(s):373 - 380
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (532 KB)

    In this paper, we discuss an approach for designing and implementing a multisensory perception system in order to control an autonomous mobile robot when uncertainty and incomplete knowledge are the major characteristics of the situated environment. The approach relies on the combination of local and absolute localization methods. The former is lowly coupled to the environment and makes intensivel... View full abstract»

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  • Optimal design of distributed signal detection systems

    Publication Year: 1996, Page(s):719 - 725
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (444 KB)

    A distributed signal detection problem is considered in such a manner that a number of local detectors transmit their individual decisions, based on their own observations, to a global decision maker (data fusion center), which combine the local (preliminary) decisions to make the final decision. A DBT formulation of the binary DDF problem is described and the necessary conditions for the person-b... View full abstract»

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  • Controlling the chaotic neural network-a way of information integration

    Publication Year: 1996, Page(s):775 - 780
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (464 KB)

    Concerns the use of neural nets for sensor fusion and integration. We stabilized the unstable equilibrium state of a chaotic network by a small external signal. The network has the first-order and second-order random and diluted connections, and its dynamics can be stable, periodic and chaotic for different values of parameters. The famous OGY method for controlling the chaos is applied to the evo... View full abstract»

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  • Generation of dense range maps by data fusion from active and passive colour stereo vision

    Publication Year: 1996, Page(s):410 - 415
    Cited by:  Papers (1)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (592 KB)

    The problem of correspondence search in a stereo system may be alleviated if an active light source projects colour codes onto the scene. To reduce the amount of ambiguous or false matches, additional information drawn from feature-based passive stereo techniques can be used In this paper we discuss the application of fuzzy data fusion techniques to a dual-mode stereo system. Information from pass... View full abstract»

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  • Position estimation using GPS and dead reckoning

    Publication Year: 1996, Page(s):533 - 540
    Cited by:  Papers (4)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (468 KB)

    A method for estimating vehicle position by using GPS, a fiber optic gyro and encoders is proposed. The position estimator in this method is the optimal in the sense of least variance. The production of an experimental autonomous lawn mower and the evaluation of the performance of the method are reported. The relation between the performance and the accuracy of GPS is discussed in terms of the par... View full abstract»

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  • Positioning of the mobile robot LiAS using natural landmarks and a 2D range finder

    Publication Year: 1996, Page(s):257 - 264
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (756 KB)

    In this paper a Kalman filter based position estimation module with natural beacons is presented. The positioning module for the mobile robot LiAS has a flexible and generic structure to allow the contribution of several types of available external sensor data in order to reduce the position error. A special case is described in detail. The data of a 2D range finder is used to build geometrical pr... View full abstract»

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  • A new sensing scheme for 3D active antenna

    Publication Year: 1996, Page(s):597 - 602
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (564 KB)

    This paper discusses a new sensing scheme for 3D active antenna that can detect not only the contact location between an insensitive flexible beam and an object but also the normal direction of the object's surface where the beam makes contact. The active antenna is simply composed of an insensitive flexible beam, actuators to move the beam, position sensors to measure the rotational angle of the ... View full abstract»

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  • Development of optical proximity sensor: ORANGES system-optical range sensor with circular scanning

    Publication Year: 1996, Page(s):509 - 516
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (812 KB)

    In this paper, we describe a method of range finding to an attentive local area of an object by a novel optical proximity sensor; ORANGES system, which is an abbreviation of an Optical RANGE Sensor system. ORANGES system is provided with a function of optical range sensing sequentially at each point along a circular path which is a locus of circular scanning of a laser beam projection. The prototy... View full abstract»

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  • A single camera, calibration free estimation and tracking scheme with multi-sensor fusion in a manufacturing workcell

    Publication Year: 1996, Page(s):679 - 686
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (624 KB)

    The problem of tracking and grasping a moving part on a rotating turntable with the aid of a robotic manipulator is considered. The position and orientation of the part with respect to the turntable is assumed to be apriori unknown. Likewise the position and orientation of the robot with respect to the turntable is also assumed to be apriori unknown. In the algorithm described in this paper, the p... View full abstract»

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  • Application of sensor fusion to railway systems

    Publication Year: 1996, Page(s):185 - 192
    Cited by:  Papers (11)  |  Patents (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (712 KB)

    Advanced automatic train control (ATC) and automatic train protection (ATP) systems form key elements in the moves to optimise the performance of new generations of trains and railway systems. In these systems, the reliable and accurate measurement of position and speed using on-board systems, plays a vital role in reducing the need for trackside equipment. This is combined with radio transmission... View full abstract»

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  • Adaptive object detection from multisensor data

    Publication Year: 1996, Page(s):633 - 640
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (808 KB)

    This paper focuses on developing self-adapting automatic object detection systems to achieve robust performance. Two general methodologies for performance improvement are first introduced. They are based on optimization of parameters of an algorithm and adaptation of the input to an algorithm. Different modified Hebbian learning rules are used to build adaptive feature extractors which transform t... View full abstract»

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