@inproceedings{UpcroftRidleyOngetal., author = {Upcroft, Ben and Ridley, Matthew and Ong, Lee Ling and Douillard, Bertrand and Kaupp, Tobias and Kumar, Suresh and Bailey, Tim and Ramos, Fabio and Makarenko, Alexei and Brooks, Alex and Sukkarieh, Salah and Durrant-Whyte, Hugh F.}, title = {Multilevel state estimation in an outdoor decentralised sensor network}, series = {10th International Symposium on Experimental Robotics 2006 (ISER'06), Rio de Janeiro, Brazil}, booktitle = {10th International Symposium on Experimental Robotics 2006 (ISER'06), Rio de Janeiro, Brazil}, language = {en} } @inproceedings{DurrantWhyteSukkariehRamosetal., author = {Durrant-Whyte, Hugh and Sukkarieh, Salah and Ramos, Fabio and Bailey, Tim and Kumar, Suresh and Ong, Lee-Ling and Ridley, Matthew and Kaupp, Tobias and Douillard, Bertrand and Upcroft, Ben}, title = {Non-gaussian state estimation in an outdoor decentralised sensor network}, series = {Proceedings of the 45th IEEE Conference on Decision and Control}, booktitle = {Proceedings of the 45th IEEE Conference on Decision and Control}, publisher = {IEEE}, address = {Piscataway}, doi = {10.1109/CDC.2006.377533}, pages = {366 -- 372}, abstract = {This paper presents the development and demonstration of non-Gaussian, decentralised state estimation using an outdoor sensor network consisting of an autonomous air vehicle, a manual ground vehicle, and two human operators. The location and appearance of landmarks were estimated using bearing only observations from monocular cameras. We show that inclusion of visual and identity information aids validation gating for data association when geometric information alone cannot discriminate individual landmarks. The combination of geometric, appearance, and identity information provided a common description (or map) of natural features for each of the nodes in the network. We also show the final map from the live demonstration which includes position estimates and classification labels of the observed features.}, language = {en} } @inproceedings{UpcroftRidleyOngetal., author = {Upcroft, Ben and Ridley, Matthew and Ong, Lee Ling and Douillard, Bertrand and Kaupp, Tobias and Kumar, Suresh and Bailey, Tim and Ramos, Fabio and Makarenko, Alexei and Brooks, Alex and Sukkarieh, Salah and Durrant-Whyte, Hugh F.}, title = {Multi-level state estimation in an outdoor decentralised sensor network}, series = {Experimental Robotics: The 10th International Symposium on Experimental Robotics ; Springer Tracts in Advanced Robotics (STAR, volume 39)}, booktitle = {Experimental Robotics: The 10th International Symposium on Experimental Robotics ; Springer Tracts in Advanced Robotics (STAR, volume 39)}, editor = {Khatib, Oussama and Kumar, Vijay and Rus, Daniela}, publisher = {Springer}, address = {Berlin, Heidelberg}, isbn = {978-3-540-77456-3}, doi = {10.1007/978-3-540-77457-0_33}, pages = {355 -- 365}, abstract = {Decentralised estimation of heterogeneous sensors is performed on an outdoor network. Attributes such as position, appearance, and identity represented by non-Gaussian distributions are used in in the fusion process. It is shown here that real-time decentralised data fusion of non-Gaussian estimates can be used to build rich environmental maps. Human operators are also used as additional sensors in the network to complement robotic information.}, language = {en} }