Sensors and Sensor Models
A multi-sensor robot system comprises many diverse sources of information. The sensors of these systems take observations of a variety of disparate geometric features in the robot environment. The measurements supplied by the sensors are uncertain, partial, occasionally spurious or incorrect and often geographically or geometrically incomparable with other sensor views. This sensor information is inherently dynamic; the observations supplied by one sensory cue may depend on measurements made by other sensors, the quality of the information provided may depend on the current state of the robot environment or the location and state of the sensor itself. It is the goal of the robot system to coordinate these sensors, direct them to view areas of interest and to integrate the resulting observations into a consistent consensus view of the environment which can be used to plan and guide the execution of tasks.
KeywordsPrior Information Decision Procedure Observation Model Sensor Model Sensor Observation
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