TY - CHAP A1 - Upcroft, Ben A1 - Ridley, Matthew A1 - Ong, Lee Ling A1 - Douillard, Bertrand A1 - Kaupp, Tobias A1 - Kumar, Suresh A1 - Bailey, Tim A1 - Ramos, Fabio A1 - Makarenko, Alexei A1 - Brooks, Alex A1 - Sukkarieh, Salah A1 - Durrant-Whyte, Hugh F. T1 - Multilevel state estimation in an outdoor decentralised sensor network T2 - 10th International Symposium on Experimental Robotics 2006 (ISER'06), Rio de Janeiro, Brazil Y1 - 2006 ER - TY - CHAP A1 - Durrant-Whyte, Hugh A1 - Sukkarieh, Salah A1 - Ramos, Fabio A1 - Bailey, Tim A1 - Kumar, Suresh A1 - Ong, Lee-Ling A1 - Ridley, Matthew A1 - Kaupp, Tobias A1 - Douillard, Bertrand A1 - Upcroft, Ben T1 - Non-gaussian state estimation in an outdoor decentralised sensor network T2 - Proceedings of the 45th IEEE Conference on Decision and Control N2 - 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. Y1 - 2006 U6 - https://doi.org/10.1109/CDC.2006.377533 SP - 366 EP - 372 PB - IEEE CY - Piscataway ER - TY - CHAP A1 - Upcroft, Ben A1 - Ridley, Matthew A1 - Ong, Lee Ling A1 - Douillard, Bertrand A1 - Kaupp, Tobias A1 - Kumar, Suresh A1 - Bailey, Tim A1 - Ramos, Fabio A1 - Makarenko, Alexei A1 - Brooks, Alex A1 - Sukkarieh, Salah A1 - Durrant-Whyte, Hugh F. ED - Khatib, Oussama ED - Kumar, Vijay ED - Rus, Daniela T1 - Multi-level state estimation in an outdoor decentralised sensor network T2 - Experimental Robotics: The 10th International Symposium on Experimental Robotics ; Springer Tracts in Advanced Robotics (STAR, volume 39) N2 - 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. Y1 - 2008 SN - 978-3-540-77456-3 U6 - https://doi.org/10.1007/978-3-540-77457-0_33 SP - 355 EP - 365 PB - Springer CY - Berlin, Heidelberg ER -