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
- 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.