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

8-11 Dec. 1996

Filter Results

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
    Request permission for commercial reuse | PDF file iconPDF (494 KB)
    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»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • 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»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • 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»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Proceedings 13th TRON Project International Symposium /TEPS '96

    Publication Year: 1996
    Request permission for commercial reuse | PDF file iconPDF (818 KB)
    Freely Available from IEEE
  • Conference Author Index

    Publication Year: 1996, Page(s):845 - 848
    Request permission for commercial reuse | PDF file iconPDF (174 KB)
    Freely Available from IEEE
  • Modular wavelet-based vector quantization for automatic target recognition

    Publication Year: 1996, Page(s):462 - 469
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (888 KB)

    An automatic target recognition (ATR) classifier is constructed that uses a set of dedicated vector quantizers (VQs). The background pixels in each input image are properly clipped out by a set of aspect windows. The extracted target area for each aspect window is then enlarged to a fixed size, after which a wavelet decomposition splits the enlarged extraction into several subbands A dedicated VQ ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Emergent behavior based sensor fusion for robot navigation system

    Publication Year: 1996, Page(s):525 - 532
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (680 KB)

    Presents Emergent Behavior-Based Architecture (EBBA), an architecture for heterogeneous sensor information fusion at the level of behavior modules. And we have designed and implemented the mobile robot navigation system based on EBBA. By experiment, we have confirmed that the system based on EBBA satisfies the required functions for human coexistent robots. We are currently developing a dual arm r... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Intuitive control of a multi-robot-system by means of projective virtual reality

    Publication Year: 1996, Page(s):273 - 280
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1156 KB)

    Experiences in controlling a multi-robot-system which is capable of performing different experiment handling and service tasks in a space laboratory environment, showed that the realization of a man machine interface based on modern virtual reality (VR) techniques is a promising approach for a new command and supervision interface that is intuitively operable. The general aim of the development de... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Development of a distributed IMM algorithm for multi-platform multi-sensor tracking

    Publication Year: 1996, Page(s):455 - 461
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (476 KB)

    In this paper, a distributed interacting multiple model (DIMM) algorithm for multi-platform multi-sensor tracking is presented, where the overall target model space is decomposed into all platforms. Each platform contains only a model subset, and interacting multiple model filtering is performed on all platforms. By exchanging some moderate filtering results through a platform communication datali... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • 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»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • 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»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Data conversion capability of optical tactile sensor featuring an array of pyramidal projections

    Publication Year: 1996, Page(s):573 - 580
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (660 KB)

    In order to enhance robotic tactile sensation, we developed a tactile sensor comprising a flat rubber sheet and an acrylic plate (optical waveguide) featuring an array of pyramidal projections. The back surface of the rubber sheet was checkered with square concave and convex portions. Since each single concave or convex portion was arranged to press the pyramidal projections of 2-by-2 array, the t... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Communications management in decentralised data fusion systems

    Publication Year: 1996, Page(s):796 - 805
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (704 KB)

    We compare two communications management algorithms: one based on an information theoretic approach, which builds on and complements previous work in this area, the other based on a non-information based (round robin) approach. We consider different numbers and combinations of targets. The results are presented as process models which relate the delay in achieving reliable identification to the co... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • An active microphone method for speech recognition systems

    Publication Year: 1996, Page(s):446 - 453
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (516 KB)

    We propose a method to recognize human speech without the restriction that the speaker should be close to the microphone for the multiple modal interface. This method has the following features: 1) to control the microphone directivity for improvement of S/N ratio by using the speaker's position estimated by the result of gesture recognition, 2) to compose the impulse response of the transfer char... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • 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»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Global self-localization for actual mobile robots: generating and sharing topographical knowledge using the region-feature neural network

    Publication Year: 1996, Page(s):619 - 626
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (832 KB)

    This paper presents an approach to global self-localization (GSL) for autonomous mobile robots using the region-feature neural network. Our approach, which is similar to optical character recognition, categorizes discrete regions of space (topographical nodes) using actual mapped sonar data from two different mobile robots. That is, the mapped sonar data assumes the form of a character unique to i... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • 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»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • An intelligent sensor fusion system for tool monitoring on a machining center

    Publication Year: 1996, Page(s):208 - 214
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (600 KB)

    The objective of this paper is to construct an intelligent sensor fusion monitoring system for tool breakage on a machining center. Since none of the sensing and diagnosis techniques have proven to be completely reliable during practical operations. An intelligent tool monitoring system consisting of a neural-network-based algorithm and a sensor fusion system is proposed. The dual sensing signals ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • 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»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • 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»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Maximizing multi-sensor system dependability

    Publication Year: 1996, Page(s):1 - 8
    Cited by:  Papers (3)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (852 KB)

    This paper considers distributed sensor systems and finds redundant configurations which maximize dependability while insuring the system remains within cost or weight constraints. Given different sensor modules which fulfil the system's operational requirements but have different dependability and cost parameters, efficient methods are used to find maximum dependability configurations. These meth... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Real-time microvision system with three-dimensional integration structure

    Publication Year: 1996, Page(s):831 - 835
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB)

    A number of two-dimensional LSIs (2D-LSIs) with the thickness of around 30 μm which amplify and convert image signals and perform some arithmetic operations are integrated vertically in order to achieve a real-time microvision system. This microvision system transfers the two-dimensional (2D) image data arrays as it is using high density vertical interconnections. So, the image information sign... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Learning dextrous manipulation skills using multisensory information

    Publication Year: 1996, Page(s):342 - 348
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (892 KB)

    We present a method for autonomous learning of dextrous manipulation skills with multifingered robot hands. We use heuristics derived from observations made on human hands to reduce the degrees of freedom of the task and make learning tractable. Our approach consists of learning and storing a few basic manipulation primitives for a few prototypical objects and then using an associative memory to o... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • An approach of the order identification for the transfer function of systems with superimposed noise

    Publication Year: 1996, Page(s):47 - 54
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    Conventional methods for estimating the transfer function models based on deterministic perturbations of the input such as step, pulse and sinusoidal changes have not always been successful because the response of the system may be masked by uncontrollable disturbances, collectively referred to as noise. Particularly in multisensor-integrated systems, the effect of noise from the sensors is not ne... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.