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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  • 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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  • Intelligence fusion

    Publication Year: 1996, Page(s):781 - 787
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (609 KB)

    This paper aims at presenting the principles of intelligence fusion, and particularly behaviour modelling techniques and the associated fundamental techniques (temporal data modelling, fuzzy and competitive data modelling). We concentrate in the following text on symbolic fusion techniques, that is fusion processes applied at the level of intelligence cells. We first present the main differences b... 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
  • 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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  • On the active perception of speech by robots

    Publication Year: 1996, Page(s):765 - 774
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (868 KB)

    We describe an autonomous agent approach to automatic speech recognition which is based on the link of two models: a virtual environment model (VEM) and a virtual speaker model (VSM). The VEM is a system which can generate some synthetic signals of different wave lengths and can record real world data from a camera and a microphone. The VSM is a speech synthesis model with some controllable parame... View full abstract»

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  • Neural network based sensor array signal processing

    Publication Year: 1996, Page(s):757 - 764
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (628 KB)

    An autoassociative memory using neural networks is proposed for sensor failure detection and correction. A classical approach to sensor failure detection and correction relies upon complex models of physical systems, however, a neural network approach can be used to represent systems through training for which mathematical models can not be formulated. In such cases, a neural network autoassociati... View full abstract»

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  • 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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  • Real-time visual behaviors with a binocular active vision system

    Publication Year: 1996, Page(s):663 - 670
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (940 KB)

    An active vision system has to enable the implementation of reactive visual processes and of elementary visual behaviors in real time. In this paper we describe the real-time implementation of several visual behaviors in an active vision system. Issues related to the real-time implementation are discussed, namely in what concerns the modelling of the measurements made in the image. Even though in ... 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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  • Hole position and inclination sensor with 2 dimensional PSD, and its application to automatic shaft inserting

    Publication Year: 1996, Page(s):78 - 85
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (428 KB)

    Shaft inserting is a frequent and important operation for automatic parts assembly. We have developed a sensor that can detect in real time the position of hole center and its inclination using a 2D position sensitive device (PSD). The sensor can detect the hole position by using the signals for the center of the light part. When the hole is inclined, a black ellipse image is focused on the PSD, t... View full abstract»

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  • Multimedia sensor fusion for intelligent camera control

    Publication Year: 1996, Page(s):655 - 662
    Cited by:  Papers (3)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1072 KB)

    A multisensor-based control system for an active pan/tilt/zoom camera is presented. Acoustic and visual information from multimedia sensors is used to locate the person currently speaking and track people moving about in a room. Pixel-level fusion of skin color with an image produced from interaural sound delay provides a simple means of detecting the face of the current speaker. For wider-scale s... View full abstract»

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  • Dead reckoning navigation of a mobile robot using an indirect Kalman filter

    Publication Year: 1996, Page(s):132 - 138
    Cited by:  Papers (8)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (532 KB)

    An encoder and a gyroscope fusion algorithm for an autonomous mobile robot (AMR) navigation using indirect Kalman filter scheme is proposed. An encoder based navigation algorithm is developed and based on the navigation algorithm, a navigation error model is derived by linear perturbation. The indirect Kalman filter for fusion algorithm is realized by applying Kalman filter to the navigation error... View full abstract»

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  • Dynamic object localization via a proximity sensor network

    Publication Year: 1996, Page(s):337 - 341
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (396 KB)

    In this paper we describe a proximity sensor network (PSN) consisting solely of inexpensive intensity-based electro-optical proximity sensors embedded in a robotic end-effector. By coupling the PSN to an extended Kalman filter, and by resolving the sensors' dependence on ambient light, the object's reflective properties and the angle between sensor beam and the object's surface, we succeed in esti... View full abstract»

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  • Performance evaluation of multisensor track-to-track fusion

    Publication Year: 1996, Page(s):627 - 632
    Cited by:  Papers (2)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (344 KB)

    Track-to-track fusion is an important part in multisensor fusion. In practice, the process noise is not negligible due to target manoeuvring and sensors typically communicate infrequently to save communication bandwidth. In such situations, the measurements from two sensors are not conditionally independent due to the common process noise from the underlying system. This dependence phenomena was a... 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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  • A fuzzy approach to multi-sensor data fusion for quality profile classification

    Publication Year: 1996, Page(s):215 - 221
    Cited by:  Papers (5)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (528 KB)

    A multi-sensor system is considered where the sensors comprising it utilize the principles of human olfactory sensing and the processing of the sensor measurements is done by a fuzzy sensor fusion technique. The emphasis of the paper is on the fuzzy fusion technique used for the classification of the numerical measurements of a quality characteristic in different fuzzy quality profiles View full abstract»

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  • Development of “AI-VISION” for fluidized-bed incinerator

    Publication Year: 1996, Page(s):72 - 77
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    The paper presents “AI-VISION” which is an intelligent combustion control equipment for a fluidized-bed incinerator (FBI). Since thermal plants are MIMO systems, it is important to grasp the characteristic of the plant by sensors for precise combustion control. Furthermore, in a refuse incineration plant (RIP), the fuel property is unstable and minimization of exhaust emission is requi... 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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  • Recovery of dynamic scene structure from multiple image sequences

    Publication Year: 1996, Page(s):305 - 312
    Cited by:  Papers (10)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1000 KB)

    Despite significant progress in automatic recovery of static scene structure from range images, little effort has been made toward extending these approaches to dynamic scenes. This disparity is in large part due to the lack of range sensors with the high sampling rates needed to accurately capture dynamic scenes. We have developed a system that overcomes this problem by exploiting video cameras, ... View full abstract»

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  • Modelling human assembly actions from observation

    Publication Year: 1996, Page(s):357 - 364
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (788 KB)

    This paper describes a system which can model an assembly task performed by a human. The actions are recorded in real-time using a stereo system. The assembled objects and the fingers of the hand are tracked through the image sequence. We use the spatial relations between the fingers and the objects to temporally segment the task into approach, pre-manipulate, manipulate and depart phases. We inte... View full abstract»

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  • Automatic action planning as a key to virtual reality based man-machine-interfaces

    Publication Year: 1996, Page(s):647 - 654
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1124 KB)

    Experiences in space robotics showed, that in a field where the need for autonomy of automated systems is traditionally very high, there is also a great concern about operability and supervision efforts. In order to give a user trust in autonomous operation of a system, he must be provided with convincing information concerning the conduct of the tasks to be done and the status of the-potentially-... View full abstract»

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  • Adaptive rule of combination for observations over time

    Publication Year: 1996, Page(s):125 - 131
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1036 KB)

    Landmark-based navigation of autonomous mobile robots require the integration of observations from sensors over time. This paper shows that Dempster's rule of combination is not appropriate for this domain. An alternative rule of combination for Shafer belief functions is derived, which adapts the belief updating process based on a contextual weighting parameter (n), where n is a function of the e... View full abstract»

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