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Multi-level state estimation in an outdoor decentralised sensor network

  • 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.

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Metadaten
Author:Ben Upcroft, Matthew Ridley, Lee Ling Ong, Bertrand Douillard, Tobias Kaupp, Suresh Kumar, Tim Bailey, Fabio Ramos, Alexei Makarenko, Alex Brooks, Salah Sukkarieh, Hugh F. Durrant-Whyte
DOI:https://doi.org/10.1007/978-3-540-77457-0_33
ISBN:978-3-540-77456-3
Parent Title (English):Experimental Robotics: The 10th International Symposium on Experimental Robotics ; Springer Tracts in Advanced Robotics (STAR, volume 39)
Publisher:Springer
Place of publication:Berlin, Heidelberg
Editor:Oussama Khatib, Vijay Kumar, Daniela Rus
Document Type:Conference Proceeding
Language:English
Year of publication:2008
Release Date:2023/08/11
Pages/Size:11
First Page:355
Last Page:365
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